Inject pyopenssl into urllib3 only when necessary

[zkonge]

The code is copied from latest requests https://github.com/psf/requests/blob/a3ce6f007597f14029e6b6f54676c34196aa050e/src/requests/__init__.py#L124

1. Follow upstream Don't use pyOpenSSL unless no SNI is detected psf/requests#5443 and requests[security] / PyOpenSSL does not make requests more secure but more brittle psf/requests#5267
2. New PyOpenSSL bundles the OpenSSL 3, which may cause performance degradation OpenSSL 3.0 performance issue: SSLContext.set_default_verify_paths / load_verify_locations about 5x slower python/cpython#95031, especially in old Python that uses OpenSSL 1.1-, because urllib3 prefer PyOpenSSL after injecting.

[loveyana]

@lavagetto Would you mind taking a look at this PR when you have a moment? Thank you!