Adding unreachable to `FAIL` and `SKIP` made Clang become very good
at figuring out that tests of `FAIL` and `SKIP` will never return
and thus could be marked as [[noreturn]].

To avoid introducing lot of warning suppression noise into the
test files, we just disable it instead.

This enables us to generate pkg-config with proper paths if the
installation prefix is decided at install time, e.g. with
```
cmake --install build-dir --prefix /path/to/somewhere
```

It also means that we can use CMake's generator expression to get
the _real_ final name of the libraries, e.g. including debug postfix.

Closes #2979

fix #2755

https://cmake.org/cmake/help/v3.16/module/FindPythonInterp.html

2 spaces seems to be the more common indentation level so that's what
I unified around.

We still want to build VS 2017 through AppVeyor, and those images
have CMake 3.16.2 installed. We could install newer CMake as part
of the build, but since we don't use newer CMake features yet, this
is simpler.

We also bump the minimum CMake version to 3.20 as per #2943