Downgrade minimum version of Sphinx for Python 3.8 compatibility
In 5a8c33f34a36a038ab8cdaedddf19fe4d5750cf5 the minimum version was set to 7.3 to allow use of the long-form `--fail-on-warning` option, but this is not compatible with Python 3.8. Revert this to the original `-W` option and set 7.0 as the minimum version.