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add_test: Revert "Allow special characters in test name"

Brad King requested to merge brad.king/cmake:revert-add_test-special-chars into master

Revert !4754 (merged). Unfortunately the fix breaks projects that were working around the limitation with manual escaping. The fix can be re-introduced with a policy in a future version.

Also add a 3.18.1 release note explaining the change.

Fixes: #21017 (closed), #20965 (closed)
Issue: #19391 (closed)
Backport: release

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