Upgrade Bazel version to 5.1.0. (#8765)

Bazel 5.1.0 (https://blog.bazel.build/2022/03/24/bazel-5.1.html) added an experimental version of `cc_shared_library` behind the `experimental_cc_shared_library` flag. TensorFlow updated to Bazel 5.1.0 in https://github.com/tensorflow/tensorflow/commit/d01c0796aa461495ed0860b8cfe76db5b0f9914b and is using that flag and feature.

This updates IREE's Bazel version to 5.1.0 to match TensorFlow, and includes the newly required (thanks, TF) flag to our .bazelrc.

I did _not_ update the Docker image used for releases. We'll need something like https://github.com/stellaraccident/manylinux-bazel/commit/9937d5b5c1ca66136da1f25cf6f6470de20c9b58 for that.
diff --git a/.bazelversion b/.bazelversion
index 0062ac9..831446c 100644
--- a/.bazelversion
+++ b/.bazelversion
@@ -1 +1 @@
-5.0.0
+5.1.0