docs: outputs: syslog: clarify TLS requires tcp mode

[eschabell]

• update mode parameter description to note TLS requires tcp mode and that DTLS over UDP isn't supported

Applies to code fix in 5.0.3 with no doc PR.

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Reviewing files that changed from the base of the PR and between 343903f and fc05496.

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• pipeline/outputs/syslog.md

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[eschabell]

Thanks @cosmo0920 for the review!