stable/1.9 backports (part 3)

[imphil]

• Close -makelib with -endlib (#3537)
• Support customizing simulator output redirection (#3561)
• test_cocotb: Set time precision to 1ps for all simulators
• Xcelium: Pass COCOTB_HDL_PRECISION also to VHDL
• Xcelium/VHDL: Skip tests which require sub-ns precision
• Skip test_timer_with_units if we cannot set the precision
• Xcelium: Use a sufficiently recent version of VHDL
• Skip test_vhdl_libraries_multiple on Xcelium
• Xcelium: Set feature flag to make VHDL toplevels work
• Remove fail markers for Xcelium VHDL
• CI: Enable Xcelium/VHPI testing
• GHDL: Support COCOTB_HDL_TIMEPRECISION if possible
• GHDL: Only pass --time-resolution if mcode is used
• Move around commandline args in Makefile.icarus (#3637)
• Don't require Verilator binary for testing (#3666)

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 6.89655% with 27 lines in your changes missing coverage. Please review.

Project coverage is 65.69%. Comparing base (6fc0b29) to head (bde1dcc).

Files	Patch %	Lines
cocotb/runner.py	6.89%	27 Missing :warning:

Additional details and impacted files

```diff @@ Coverage Diff @@ ## stable/1.9 #3948 +/- ## ============================================== + Coverage 65.12% 65.69% +0.57% ============================================== Files 49 49 Lines 9210 9239 +29 Branches 2487 2478 -9 ============================================== + Hits 5998 6070 +72 + Misses 2677 2612 -65 - Partials 535 557 +22 ```

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[ktbarrett]

If you are picking #3561, I suggest you also pick #3927.

[imphil]

If you are picking https://github.com/cocotb/cocotb/pull/3561, I suggest you also pick https://github.com/cocotb/cocotb/pull/3927.

Good point, I added it to the list. I'll apply it in a later PR, as I'm trying to go in the order the PRs were merged to reduce the chance of merge conflicts.