cmake: remove policies
The `CMAKE_MINIUM_REQUIRE()` function not only sets up the minimum required CMake version of a project, but it will also at the same time set the CMake policy version. In effect this means that all policies that have been introduced before the minimum CMake version will be enabled automatically. When updating our minimum required version ebabb88f (cmake: update minimum CMake version to v3.5.1, 2019-10-10), we didn't remove any of the policies we've been manually enabling. The newest CMake policy we've been enabling is CMP0054, which was introduced back in CMake v3.1. As a result, we can now just remove all manual calls to `CMAKE_POLICY()`.
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