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Revert INTERFACE_LINK_LIBRARIES_DIRECT feature for 3.23 branch

Revert the main feature (last two commits) from !6886 (merged), but only in the 3.23 release branch.

After initial experience using the feature in practice, additional design considerations have been raised for discussion in the original issue. To avoid rushing this for the 3.23 series, we've decided to revert the feature for now so it can be revised for a future release.

Issue: #22496 (closed)
Backport: release:HEAD~1^2

Edited by Brad King

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