Consider changing sphinx build to dirhtml

[jackgerrits]

Build HTML pages, but with a single directory per document. Makes for prettier URLs (no .html) if served from a webserver.

https://www.sphinx-doc.org/en/master/usage/builders/index.html

[jackgerrits]

I don't think we should do this due to it breaking links and the current urls work just fine. Docusaurus had some quirks around trailing slashes or not and it would be good to avoid that entirely which this might have caused