[setup] migrate setup script to `pyproject.toml` (reland #22539)
Author: XuehaiPan
Pull request: yes

# What does this PR do?

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Reland PR #22539.

As we are moving forward to Python 3.9+ only. It is save for now to move as much as static settings out of `setup.py`.

## Before submitting
- [ ] This PR fixes a typo or improves the docs (you can dismiss the other checks if that's the case).
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