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Update cmake_minimum_required to 3.12; support CMake 4.0
CMake 4.0 drops support for CMake <3.5, so minimum versions need to be
adjusted for forward compatibility. As long as we are touching the
minimum version, let’s advance to 3.12, which can be considered the
oldest “modern” CMake release, and which is available in all known
supported Linux distributions today.
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