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docs: link to Doxygen output instead of using breathe #2196

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  • Upgrade to Sphinx 7 (8 should be possible but some conda-forge metadata needs to be fixed)
  • Drop breathe (now unmaintained)
  • Update the intersphinx hack to support cross-linking to Doxygen-generated docs
  • Generate the Doxygen docs as a subdirectory of the main docs

Fixes #1935.

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docs: get rid of breathe
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