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Revert "no defaults for WITH_CUDA envvar. default is autodetection" #1398

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Run time

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Job	Run time
test (ubuntu-latest, 3.10)	13s
test (ubuntu-22.04-arm, 3.10)	12s
test (macos-latest, 3.10)	15s
test (windows-2022, 3.10)	11s
	51s