[CI] Revert #10181 / #11399, use non-versioned scipy intersphinx link #11411
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Follow-up from #10181 and #11399. Thank you to @rgommers for pointing out that the non-versioned link is stable and working. The use of the versioned link was only introduced to work around the breakage of the stable link, so this reverts to the pre-breakage behavior.
cc @Mousius @areusch @driazati