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feat: allow using Python clients with `Numpy>=2` (#18)

Marc-Olivier Andrez requested to merge support-numpy-2 into develop

This only applies when using Python >=3.9 because older versions of Python do not suport Numpy 2.0 (see https://numpy.org/doc/stable/release/2.0.0-notes.html).

For versions of Python <3.9, the build system now uses the Python package oldest-supported-numpy to install the earliest version of Numpy supported by the version of Python used during compilation. As a consequence, we could remove NUMPY_VERSION from the build system.

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