Support loading configs from yaml files in the C++ API #85

Job	Run time
Build (ubuntu-20.04)	1m 57s
Build (ubuntu-22.04)	1m 51s
Build (ubuntu-24.04)	2m 3s
Clang tidy	2m 28s
Test (ubuntu-20.04)	2m 52s
Test (ubuntu-22.04)	2m 20s
Test (ubuntu-24.04)	2m 33s
Valgrind memcheck	16m 3s
Sanitize undefined behavior	12m 20s
Sanitize addressability and leaks	11m 13s
Sanitize data races and deadlocks	6m 38s
	1h 2m 18s

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