Make WITHOUT_UNDEFINED_VERSION the default

Link with --no-undefined-version by default. Will detect and prevent
the accidental removal of symbols from versioned libraries.

(cherry picked from commit 4510f2ca9170927309a423274e03f1eb8e27da27)
This reverts commit b25ceb97eddcd58cfb2b433fe301ab28c678c249.

Reviewed by: arichardson, kib, dim, emaste
Differential Revision: https://reviews.freebsd.org/D44216