cuda : enable CUDA Graph on CUDA Toolkit < 12.x (#12394)
* Enable CUDA Graph on CTK < 12.x
`cudaGraphExecUpdate` API was changed on 12.x. For this reason CUDA graph support was disabled on older CUDA toolkit. This change enables CUDA support in CTK version < 12.x by using older API if CTK < 12.x.
* Fix compilation errors with MUSA
* Disable CUDA Graph for MUSA
