Use relative links instead of $docs syntax (backport #3291)

[mergify]

This is an automatic backport of pull request #3291 done by Mergify.
Cherry-pick of 1b80b21 has failed:

On branch mergify/bp/release/3.1.x/pr-3291
Your branch is up to date with 'origin/release/3.1.x'.

You are currently cherry-picking commit 1b80b21358.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   docs/changehistory/1.10.0.md
	modified:   docs/changehistory/1.5.0.md
	modified:   docs/changehistory/1.8.0.md
	modified:   docs/changehistory/2.12.0.md
	modified:   docs/changehistory/2.13.0.md
	modified:   docs/changehistory/2.15.0.md
	modified:   docs/changehistory/2.16.0.md
	modified:   docs/changehistory/2.17.0.md
	modified:   docs/changehistory/3.0.0.md
	modified:   docs/changehistory/index.md
	modified:   docs/getting-started/leftNav.md
	modified:   docs/getting-started/offline-quickstart.md
	modified:   docs/getting-started/online-quickstart.md
	modified:   docs/learning/Glossary.md
	modified:   docs/learning/backend/AccessingIModels.md
	modified:   docs/learning/backend/ConcurrencyControl.md
	modified:   docs/learning/backend/SchemasAndElementsInTypeScript.md
	modified:   docs/learning/faq.md
	modified:   docs/learning/frontend/Views.md
	modified:   docs/learning/iModelHub/Events.md
	modified:   docs/learning/iModelHub/Permissions.md
	modified:   docs/learning/iModelHub/iModels/CreateiModel.md
	modified:   docs/learning/iModelHub/iModels/index.md
	modified:   docs/learning/leftNav.md
	modified:   docs/learning/tutorials/create-test-imodel-itwin-sync.md
	modified:   docs/learning/tutorials/create-test-imodel-offline.md
	modified:   docs/learning/tutorials/create-test-imodel-sample.md
	modified:   docs/learning/tutorials/develop-agent.md
	modified:   docs/learning/tutorials/develop-desktop-viewer.md
	modified:   docs/learning/tutorials/develop-web-viewer.md
	modified:   docs/learning/tutorials/explore-imodel-console.md
	modified:   docs/learning/tutorials/explore-schema-browser.md
	modified:   docs/learning/tutorials/index.md
	modified:   docs/learning/tutorials/itwin-snapshot-app.md
	modified:   docs/learning/tutorials/registering-applications.md
	modified:   docs/learning/tutorials/use-existing-imodel.md
	modified:   docs/learning/ui/appui-react/ChildWindows.md
	modified:   docs/presentation/Motivation/index.md

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   docs/changehistory/2.11.0.md
	both modified:   docs/changehistory/NextVersion.md

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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