[3.6] bpo-31310: multiprocessing's semaphore tracker should be launched again if crashed (GH-3247) (#4254)

* bpo-31310: multiprocessing's semaphore tracker should be launched again if crashed

* Avoid mucking with process state in test.
Add a warning if the semaphore process died, as semaphores may then be leaked.

* Add NEWS entry
(cherry picked from commit cbe1756e)