contrib: Remove confusing and redundant encoding from IO

The encoding arg is confusing, because it is not applied consistently
for all IO.

Also, it is useless, as the majority of files are ASCII encoded, which
are fine to encode and decode with any mode.

Moreover, UTF-8 is already required for most scripts to work properly,
so setting the encoding twice is redundant.

So remove the encoding from most IO. It would be fine to remove from all
IO, however I kept it for two files:

* contrib/asmap/asmap-tool.py: This specifically looks for utf-8
  encoding errors, so it makes sense to sepecify the utf-8 encoding
  explicitly.
* test/functional/test_framework/test_node.py: Reading the debug log in
  text mode specifically counts the utf-8 characters (not bytes), so it
  makes sense to specify the utf-8 encoding explicitly.

contrib/verify-binaries/verify.py

@@ -246,8 +246,8 @@ def files_are_equal(filename1, filename2):
     eq = contents1 == contents2
 
     if not eq:
-        with open(filename1, 'r', encoding='utf-8') as f1, \
-                open(filename2, 'r', encoding='utf-8') as f2:
+        with open(filename1, 'r') as f1, \
+                open(filename2, 'r') as f2:
             f1lines = f1.readlines()
             f2lines = f2.readlines()
 
@@ -426,7 +426,7 @@ def verify_shasums_signature(
 def parse_sums_file(sums_file_path: str, filename_filter: list[str]) -> list[list[str]]:
     # extract hashes/filenames of binaries to verify from hash file;
     # each line has the following format: "<hash> <binary_filename>"
-    with open(sums_file_path, 'r', encoding='utf8') as hash_file:
+    with open(sums_file_path, 'r') as hash_file:
         return [line.split()[:2] for line in hash_file if len(filename_filter) == 0 or any(f in line for f in filename_filter)]