docs: clarify pg_upgrade's recovery behavior

The previous paragraph trying to explain --check, --link, and no --link
modes and the various points of failure was too complex.  Instead, use
bullet lists and sublists.

Reported-by: Daniel Gustafsson

Discussion: https://postgr.es/m/qtqiv7hI87s_Xvz5ZXHCaH-1-_AZGpIDJowzlRjF3-AbCr3RhSNydM_JCuJ8DE4WZozrtxhIWmyYTbv0syKyfGB6cYMQitp9yN-NZMm-oAo=@yesql.se

Backpatch-through: 9.4