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[CI] Add clang job, setup concurrency, use rt_tools humble branch #954

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[CI] Add clang job, setup concurrency, use rt_tools humble branch

[CI] Add clang job, setup concurrency, use rt_tools humble branch #954

Run time

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Job Run time
binary (jazzy, main) / jazzy main
4m 11s
binary (jazzy, testing) / jazzy testing
10m 20s
14m 31s