Add missing /api/v1/tickets/:id/claim endpoint

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Description

**Issue:** MCP documentation references non-existent `claim_task` and `finalize_task` tools.

**Cleanup Required:**
1. Remove `claim_task` and `finalize_task` from all documentation
2. Update tool access matrix (#42) with correct tools
3. Update agent role prompts with correct workflow:
   - Use `assign_ticket(ticket_id, status: "in_progress")` to pick up work
   - Use `transition_ticket(ticket_id, event: "submit_review")` when done
4. Remove from role enforcement epic (#39) references

**Correct MCP Workflow:**
```
Worker:
1. list_tickets(status: "todo")
2. assign_ticket(ticket_id, status: "in_progress")  ← pick up work
3. ... implementation ...
4. transition_ticket(ticket_id, event: "submit_review")  ← done

Orchestrator:
1. list_members(role: "worker")
2. assign_ticket(ticket_id, member_id: X, status: "todo")  ← assign
```

**Acceptance Criteria:**
- No references to non-existent claim/finalize tools
- Documentation shows correct assign + transition pattern
- Agent prompts reference correct workflow

**Dependencies:**
- Waits for #57 (assign_ticket tool)