[Style] Improve cmake readability and add cmake-format tools

[SYaoJun]

Describe the enhancement requested

I'd like to introduce cmake-format to this project to:
Unify CMakeLists.txt formatting across the codebase
Improve readability and maintainability
Enforce consistent style in future contributions

I plan to add:
A .cmake-format.py config file
format all cmakelists.txt
enable pre-commit check cmake-format
enable CI check cmake-format

Component(s)

Developer Tools, C++, Format