[whatwg/url] Proposal of .toString({ concise: true }) for nicer output with empty values (#469)

Consider the following example:
```js
const p = new URLSearchParams([['a', ''], ['b', 'non-empty', ['c', '']]);
p.toString();
```

It will output:
`a=&b=non-empty&c=`


I propose we introduce
```js
.toString({ concise: true });
```

That would output a pretty and concise query string without unnecessary `=`:
`a&b=non-empty&c`

Note that based on https://url.spec.whatwg.org/#urlencoded-parsing both outputs are semantically equalivent


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