scripts: fix sysroot prefix dir

The sysroot prefix dir was broken in #4960f5d9f829 due to a mishap
when making the out-of-sysroot lib/ symlink: the './' was mistakenly
changed into a single '.' .

Although Jonathan suggested restoring the missing '/' to restore it to
normal operation, I prefered using an explicit pushd/popd to be extra
sure of the symlink location and target, along with a fix in the sysroot
relative directory calculation.

Reported-by: Jonathan Grundon <JGrundon@xos.com>
Signed-off-by: "Yann E. MORIN" <yann.morin.1998@anciens.enib.fr>

 # Dummy config file to not use a C library *at all*

 ## depends on BARE_METAL

 ##

 ## help Do not use a C library.

 ## help

 ## help This is usefull if your project is self-contained, does not rely on

 ## help an external C library, and provides all the necessary bits.

 ## help

 ## help Most probably usefull to bootloaders, as they generally don't depend

 ## help on the C library.

 ## help

 ## help If unsure: do *not* choose that, and use another option in the choice.