Upgrade TrajoptLib to drop CasADi backend and feature flag #525

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Run time

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Job	Run time
Windows-x86_64	4m 46s
Athena	2m 42s
macOS-x86_64	3m 16s
Linux-x86_64	2m 19s
macOS-arm64	1m 39s
Combine	27s
	15m 9s