Emscripten build

Add TSAN CI and update actions to v21 #1815

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Run time

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Job	Run time
Win10 -> Emscripten, Debug	24m 32s
Linux -> Emscripten, Release	45m 33s
Linux -> Emscripten, Debug	18m 35s
Win10 -> Emscripten, Release	28m 15s
MacOS -> Emscripten, Debug	13m 4s
	2h 9m 59s