[cmake] use target names instead of legacy variables (#185463)
Use the [name of the imported
targets](https://cmake.org/cmake/help/latest/module/CheckSymbolExists.html)
when testing the libraries during cmake configuration. This removes the
need to also set `CMAKE_REQUIRED_INCLUDES` and
`CMAKE_REQUIRED_DEFINITIONS` and reflects more modern CMake usage where
targets are preferred over variables.
This is already the case when checking libcurl in the same file.