CMake: Bump require CMake version

[jschueller]

Avoids the cmake<3.10 deprecation message and simplifies some code
cmake 3.13 is still old enough (debian 10)

[bluescarni]

@jschueller cheers!

The sanitizer issue on the circleci build is due to this:

google/sanitizers#1614

Basically, recent ubuntu versions increased the sysctl vm.mmap_rnd_bits setting from 28 to 32 bits, and this bothers older versions of the address sanitizer. In another project I tried unsuccessfully to change the setting on circleci - but it would not let me due IIRC to some docker security policy. Eventually I just moved the sanitizer-enabled builds on github actions.

I can merge this for the time being (unless you feel motivated and want to help out with the move of the build to GHA :) )

[jschueller]

I'm not sure I can help for this one sorry, at least I fixed the arm build