Prepare 4.0.0 release (#1232) #2536

Job	Run time
windows-gallery-python3.9-minimum	1m 6s
windows-gallery-python3.12-upgraded-optional	1m 2s
linux-gallery-python3.9-minimum	33s
linux-gallery-python3.12-upgraded-optional	36s
linux-python3.13-upgraded-optional	1m 48s
linux-python3.13-upgraded	1m 46s
linux-python3.13-ros3	1m 10s
linux-python3.9-minimum	1m 47s
macos-python3.13-upgraded-optional	1m 21s
macos-python3.9-minimum	2m 21s
windows-python3.13-upgraded-optional	3m 49s
windows-python3.9-minimum	2m 59s
Deploy pre-release from dev	1m 0s
	21m 18s

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