build and test

chore: prepare for 3.1.0 release #7301

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Run time

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Job	Run time
macOS Clang	3m 23s
Clang 13 libc++	3m 3s
Clang 13 libstdc++	3m 21s
Clang 13 ASAN+UBSAN libstdc++	4m 18s
Clang 13 Release libstdc++	4m 11s
GCC 10	3m 22s
GCC 10 ASAN+UBSAN	4m 38s
GCC 10 Release	8m 47s
GCC 10 dev	8m 45s
MSVC	5m 7s
MSVC Release	4m 58s
	53m 53s