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Add BUILD_SHARED_LIBS as a configurable option #6405

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Run time

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Job	Run time
ubuntu-20.04-gcc-9 Debug	30m 21s
ubuntu-20.04-gcc-9 Release	26m 24s
ubuntu-20.04-clang-9 Debug	20m 12s
ubuntu-20.04-clang-9 Release	21m 31s
ubuntu-22.04-gcc-11 Debug	26m 42s
ubuntu-22.04-gcc-11 Release	22m 19s
ubuntu-22.04-clang-14 Debug	21m 36s
ubuntu-22.04-clang-14 Release	22m 44s
	3h 11m 49s