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[doc] Increase minimum supported GCC version to 9
Since the legacy GCC docker image doesn't (readily) support the required CMake version 3.18, the CI was updated to use GCC 9. GCC 8 may continue to work, and one could possibly add CMake 3.18 to the old Debian image to make a CI for it work again, but it's just not worth the effort at this time: GCC 9 was released in 2019, so it's old enough to be widely supported. Just as, or even more so than, GCC 8 was when this project started.
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