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[EuiDescribedFormGroup] Reintroduce fieldset/legend #3032

@myasonik

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@myasonik

Originally, it was div[role=group] with no legend.

Then in #2783 we changed it to use fieldset/legend with some aria-hidden and ScreenReaderOnly gymnastics to solve all the a11y and design issues.

Then in #2888 we discovered we might have made the a11y worse so we largely reverted the change in #2989.

We still want to introduce fieldset and legend into our form layouts but we gotta be careful about how...

Maybe we need to first come up with a plan for #2493 before tackling this? That would, potentially, give us a more prescriptive usage pattern for developers to use which might loosen up the abstract nature of the a11y and design issues...

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