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This PR updates the minimum required version of CMake. This change is necessary because the CMake 4.0 release removed policies that allowed supporting such old versions of CMake, so having such a low required minimum version of CMake prohibits using the latest versions. CMake 3.16 is already quite old (the release was back in 2019) and it is a reasonable choice based on Linux distro support (for example, it is the supported version for Ubuntu's 20.04 LTS release).
Resolves #162