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Enable runtime window system selection on Linux in `iDynTree::Visualizer` #4618

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Run time

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Job	Run time
[apt:ubuntu:20.04@Release]	16m 8s
[conda:ubuntu-20.04]	2m 37s
[apt:ubuntu:22.04@Release]	13m 39s
[conda:macos-13]	8m 33s
[conda:windows-2019]	9m 33s
	50m 30s