[20401] Improve History QoS documentation and compatibility rules (backport #664)

[mergify]

This is an automatic backport of pull request #664 done by Mergify.
Cherry-pick of 157375d has failed:

On branch mergify/bp/2.6.x/pr-664
Your branch is up to date with 'origin/2.6.x'.

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	both modified:   docs/fastdds/dds_layer/core/policy/standardQosPolicies.rst

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To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[Mario-DL]

@richiprosima please test docs