#9444: use first of prefix_chars for help opt instead of raising error

An argparse option parser created with a prefix_chars that did not
include a '-' would happily add -h and --help options, and then throw
an error when it tried to format the help because the - was an invalid
prefix character.  This patch makes it use the first character of
prefix_chars as the character for the help options if and only if '-'
is not one of the valid prefix_chars.

Fix by Theodore Turocy, unit tests by Catherine Devlin.
diff --git a/Misc/ACKS b/Misc/ACKS
index 480e35d..0347f67 100644
--- a/Misc/ACKS
+++ b/Misc/ACKS
@@ -802,6 +802,7 @@
 Jason Trowbridge
 Anthony Tuininga
 Stephen Turner
+Theodore Turocy
 Bill Tutt
 Doobee R. Tzeck
 Eren Türkay