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Joe Snyder requested to merge joe-snyder/autopybind_skeleton:repo_update into drake

Add a separate FetchContent call to download Drake's PyBind11 fork and make it available before trying to acquire autopybind11. This should prevent autopybind11 from downloading another copy of PyBind11.

Switch to the master tag of autopybind11, as the GEN_ONLY update was merged to master.

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