Deprecate compatibility with CMake versions older than 3.10

Issue a deprecation warning on calls to `cmake_minimum_required` or
`cmake_policy` that set policies based on versions older than 3.10.
Note that the effective policy version includes `...<max>` treatment.
Update the check from commit 3a4791548d (Deprecate compatibility with
CMake versions older than 3.5, 2023-02-09, v3.27.0-rc1~508^2).