Add `run_command_async` #5997

Job	Run time
Setup	2s
Building CLI for - ubuntu-20.04 - x86_64-unknown-linux-musl	1m 36s
Building CLI for - macos-13 - x86_64-apple-darwin	3m 8s
Building CLI for - windows-2022 - x86_64-pc-windows-msvc	3m 3s
Generate manpages	35s
Building CLI for - ubuntu-20.04 - aarch64-unknown-linux-musl	1m 24s
Building CLI for - windows-2022 - aarch64-pc-windows-msvc	6m 27s
Building CLI for - macos-13 - aarch64-apple-darwin	5m 20s
Building CLI for - ubuntu-20.04 - x86_64-unknown-linux-gnu	1m 35s
Generate THIRDPARTY.html	2m 19s
Building CLI for - ubuntu-20.04 - aarch64-unknown-linux-gnu	1m 21s
Generate universal macOS binary	1m 16s
	28m 6s

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