debian: Add libtirpc-dev dependency (#17220)

Debian requires libtirpc-dev. Update our debian/control file to
match Debian's upstream one.

Closes: #17197

Signed-off-by: Tony Hutter <hutter2@llnl.gov>
Reviewed-by: Tino Reichardt <milky-zfs@mcmilk.de>
Reviewed-by: @manfromafar