Update popover URL to point to help page of same domain

What does this MR do?

Updates URLs for links within popover of Epic sidebar to point to same domain help page.

Does this MR meet the acceptance criteria?

• Changelog entry added, if necessary
• [ ] Documentation created/updated
• Tests added for this feature/bug
• Conforms to the code review guidelines
• Conforms to the merge request performance guidelines
• Conforms to the style guides
• [ ] Conforms to the database guides
• EE specific content should be in the top level /ee folder
• For a paid feature, have we considered GitLab.com plans, how it works for groups, and is there a design for promoting it to users who aren't on the correct plan?

Closes #7307 (closed)