Add CHARS arg to read-char-from-minibuffer compatible with read-char-choice.

* lisp/simple.el (read-char-history):
Rename from read-char-from-minibuffer-history.  (Bug#38076)
(read-char-from-minibuffer-insert-char):
Rename from read-char-from-minibuffer-self-insert.
(read-char-from-minibuffer-map-hash): New defconst.
(read-char-from-minibuffer-insert-other): New command.
(read-char-from-minibuffer): Add optional args CHARS and HISTORY.
(zap-to-char): Use 'read-char-history as HISTORY arg of
read-char-from-minibuffer.

* lisp/emacs-lisp/map-ynp.el (read-answer): Use sit-for instead of sleep-for.
Replace short answer history yes-or-no-p-history with read-char-history.

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