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Makefile: Fix regression in dependencies on relative includes

Since !3117 (merged), one code path now calls CollapseFullPath with a base path that may be relative. Backport utils/kwsys!145 (merged) to handle such base paths.

This case occurs when a build tree is placed in a directory inside a source tree such that CMake is willing to generate a relative path from the build tree to the source tree. Add a test covering this case.

Fixes: #19507 (closed)

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