cmake: use INCLUDE_DIRECTORIES
prop to specify local header dirs
#16993
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To use more modern cmake, and make it somewhat more obvious where these
header directories should apply.
Also move setting the directory property before defining targets,
to make them inherit this directory property.
Ref: https://cmake.org/cmake/help/latest/command/include_directories.html
Ref: https://cmake.org/cmake/help/latest/prop_dir/INCLUDE_DIRECTORIES.html
Follow-up to 45f7cb7 #16238