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Enable runtime window system selection on Linux in `iDynTree::Visualizer` #4623

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Run time

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Job	Run time
[conda:ubuntu-20.04]	6m 10s
[conda:macos-13]	11m 51s
[apt:ubuntu:20.04@Release]	14m 55s
[apt:ubuntu:22.04@Release]	13m 1s
[conda:windows-2019]	9m 0s
	54m 57s