Build and test

Fix Ice/timeout by making sure controller is connected (#3215) #4573

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Run time

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Job	Run time
release on macos-15	33m 35s
release on ubuntu-24.04	55m 29s
release on windows-2022	1h 11m 25s
cpp-win32-release on windows-2022	49m 16s
debug on macos-15	33m 22s
debug on ubuntu-24.04	42m 1s
debug on windows-2022	41m 45s
matlab on ubuntu-24.04	28m 8s
matlab on windows-2022	20m 41s
cross on ubuntu-24.04	55m 50s
cross on macos-15	18m 56s
	7h 30m 28s