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🔨 Reduce number of generated matrix jobs
The workflows were modified recently to extract the `build_type` out as a matrix input. This works well, however it generates twice as many jobs -- many of which will not run concurrently on the default free Github Actions runners. This is resulting in longer execution times due in part to the duplicate setup times. In reality, the debug/release build_type can be better folded into the same action run, which reduces the number of builds *by half* at the cost of minimal duplication of the config, build, and test steps. This would allow the initial installation and setup time to be saved, resulting only in the configuration/build/test time. This change has been made in an effort to reduce the CI times.
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