packaging updates cleaner pip installs, allow for more modern python versions

This is a series of changes that update the core code for compatibility with more modern python versions, and allows more slimmed down installs via pip.

Additional optional dependency targets are created for measurement, uncertainty, and cmd, significantly reducing the dependencies for installing the base pydarm functionality (e.g. model evaluation). The tests are also updated so that the appropriate set of tests will still run and pass for the available modules.

This is marked as a draft because uncertainty dependencies still need to be sorted out for python versions >3.9.

better to review each commit individually.