Prepare for 13.3.0~pre1 Release

[scpeters]

🎈 Release

Preparation for 13.3.0~pre1 release.

Comparison to 13.2.0: sdformat13_13.2.0...sdf13

Needed by gazebosim/gz-sensors#289

Checklist

• Asked team if this is a good time for a release
• There are no changes to be ported from the previous major version
• No PRs targeted at this major version are close to getting in
• Bumped minor for new features, patch for bug fixes
• Updated changelog
• Updated migration guide (as needed)
• Link to PR updating dependency versions in appropriate repository in gazebo-release (as needed):

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[codecov]

Codecov Report

Merging #1212 (6e7c1dc) into sdf13 (cd08bd4) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##            sdf13    #1212   +/-   ##
=======================================
  Coverage   87.20%   87.20%           
=======================================
  Files         124      124           
  Lines       16229    16229           
=======================================
  Hits        14152    14152           
  Misses       2077     2077           

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