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FindThreads: Cleanup pthreads logic

Brad King requested to merge brad.king/cmake:FindThreads-cleanup into master

Perform some cleanup and simplification. See individual commit messages for details.

Some changes might be incompatible with projects not using the documented interfaces:

  • Drop the undocumented CMAKE_HAVE_PTHREAD_H check, as it is no longer needed.
  • Drop the unused internal CMAKE_HAVE_THREADS_LIBRARY variable.

These can later be restored for compatibility if necessary.

Issue: #23430

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