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Enable runtime window system selection on Linux in `iDynTree::Visualizer` #4625

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Run time

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Job	Run time
[apt:ubuntu:20.04@Release]	15m 22s
[conda:ubuntu-20.04]	5m 47s
[apt:ubuntu:22.04@Release]	13m 58s
[conda:macos-13]	7m 53s
[conda:windows-2019]	7m 56s
	50m 56s