Fix "hiway-v1" interface

[Gamenot]

This is intended to fix the "hiway-v1" interface.

Mainly:

• Address how to instantiate envision using data-oriented arguments.
• Add "envision" render_mode. This can be "human" rendering mode.
• Ensure the environment arguments are data only.
  • This means particularly the envision visualizer param needs to be changed.
• Warn on the assignment of np_random.
• Remove redundant attributes.
• Integrate Allow configuration of the env step return shapes #1920
• Follow-up on the removal of gym