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[CI] Add clang job, setup concurrency, use rt_tools humble branch #967

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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 #967

Run time

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Job Run time
binary (jazzy, main) / jazzy main
3m 55s
binary (jazzy, testing) / jazzy testing
10m 14s
14m 9s