[24612] Changes after fastcdr branch-out to 2.4.x

[MiguelCompany]

Description

This performs the necessary changes to fix Fast CDR to 2.3.x.
It also updates RELEASE_SUPPORT.md to reflect the 3.4.x EOL and the latest 3.6.x version.

Contributor Checklist

• Commit messages follow the project guidelines.
• N/A: The code follows the style guidelines of this project.
• Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
• N/A: Any new/modified methods have been properly documented using Doxygen.
• N/A: Any new configuration API has an equivalent XML API (with the corresponding XSD extension)
• NO: Changes are backport compatible: they do NOT break ABI nor change library core behavior.
• Changes are API compatible.
• N/A: New feature has been added to the versions.md file (if applicable).
• N/A: New feature has been documented/Current behavior is correctly described in the documentation.
• N/A: Applicable backports have been included in the description.

Reviewer Checklist

• The PR has a milestone assigned.
• The title and description correctly express the PR's purpose.
• Check contributor checklist is correct.
• If this is a critical bug fix, backports to the critical-only supported branches have been requested.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.