Context: https://github.com/apache/trafficserver/pull/12035

I'd like for us to upgrade to CMake 3.24 so that support for link groups is
included.  Link groups help mitigate the problems we have currently with
circular dependencies when linking on GNU ld.  By default, ld only looks to
the right of a static library on the command line when resolving its
symbols.  This is problematic since we have circular dependencies.  This
causes our link commands to be sensitive to ordering.  Here's an example of
an problem caused by this:
https://lists.apache.org/thread/qhmx4lf6p2mgv8rvyv6216t7ydsc4wt0

We should remove these cyclic dependencies, but in the meantime I propose
we upgrade CMake to make use of this feature, which will tell the linker to
look to both sides.

Thanks,
Mo

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