Unpin breathe version, force more recent sphinx version #470
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The doc workflow is currently broken because of the following error message
To fix this, this PR forces the Sphinx version to be at least 5.0.0, and installs it through pip instead of brew to have more flexibility on the sphinx version.
Note, this required unpinning the version of breathe, which was done in #241 because of breakages due to breathe updates. The latest version of breathe seems fixed, so this might not be needed anymore.