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Auxiliary: Modernize bash completion for ctest and cpack

This applies a similar modernization as was done in 1ff41ba2 (Auxiliary: bash-completion: use _comp_initialize, 2024-06-02) from !9564 (merged) for the cmake executable. The _init_completion function was deprecated upstream in bash-completion 2.12. We should keep the handling for cmake, ctest, and cpack consistent, so this change should also go into the 3.30.0 release.

Backport: release

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