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FindBoost: use the built-in Boost package config module

Frank Winklmeier requested to merge fwinkl/atlasexternals:findboost into main

The cmake FindBoost module is deprecated (CMP0167). Instead use Boost's own package config module. Also remove obsolete workarounds.

I added a one-time "Found Boost..." message. I tried using Boost's own Boost_VERBOSE but that's way too verbose for my taste.

Closes ATLINFR-5571.

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