C/C++ CI on Linux and Mac

Update CodeQL to v4 (#1397) #5186

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Run time

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Job	Run time
build (release, macOS-latest)	1m 44s
build (debug, ubuntu-latest)	1m 58s
build (release, ubuntu-latest)	1m 58s
build (debug, macOS-latest)	1m 59s
	7m 39s