Change default to overlay=on

Change default to overlay=on

Filesystems allow overlay mounts by default on FreeBSD and Linux.

Respect the native convention by switching the default to overlay=on,
while retaining the option to turn the property off for compatibility
with other operating systems' conventions.

Update documentation and tests accordingly.

Reviewed-by: Richard Laager <rlaager@wiktel.com>
Reviewed-by: Brian Behlendorf <behlendorf1@llnl.gov>
Signed-off-by: Ryan Moeller <ryan@iXsystems.com>
Closes #10030