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[backport iron] Add tip about non-parallel builds to README (#477) #1277

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[backport iron] Add tip about non-parallel builds to README (#477)

[backport iron] Add tip about non-parallel builds to README (#477) #1277

Run time

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Job Run time
ros_gz CI (ubuntu:22.04, fortress, iron)
12m 27s
ros_gz CI (ubuntu:22.04, garden, iron)
10m 37s
ros_gz CI (ubuntu:22.04, harmonic, iron)
10m 53s
33m 57s