[w3c/manifest] "Navigation scope" and "within scope" are poorly defined/used (#643)

In the "Navigation scope" section:

- It never defines how you get a navigation scope from a manifest. (Obviously, you look at its "scope" member after post-processing, but it doesn't say that.)
- Lots of references to "navigation scope" just say "the navigation scope", rather than "the navigation scope of <some manifest>".
- Some references to "within scope" just say "if within scope", rather than saying "within scope of <some scope URL>."

So a quick clean-up is needed to formally specify "navigation scope" and "within scope" and always use them appropriately.

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https://github.com/w3c/manifest/issues/643