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Add ability to automatically load ipfw_nat64, ipfw_nptv6 and ipfw_pmod

Description

Add ability to automatically load ipfw_nat64, ipfw_nptv6 and ipfw_pmod
modules by declaring corresponding variables in rc.conf. Also document
them in rc.conf(5).

Submitted by: Dries Michiels
Differential Revision: https://reviews.freebsd.org/D19673

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