cmake: Fix warnings and normalize variables/errors
As of 3.17 using find_package_handle_standard_args checks that the name of the FindXXX file and the first argument are the same case. Some modules used non-standard variables or the old singular variables instead of plurals. This normalizes variable usage to the new-style. Some CMakeLists.txt did custom error checking instead of propagating find_package errors. These were changes to call find_package with REQUIRED or without QUIET where needed and shortens the custom status messages. This helps users who want to enable that functionality see what precisely wasnt found.
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