[CMake] Use RPATH_CHANGE instead RPATH_SET
RPATH_SET is not available until cmake 3.21.0. Use RPATH_CHANGE instead.
(cherry picked from commit f64506976aac4e611641415fb1c43e7f4e632d3e)
(cherry picked from commit c39f95bcaa8b0498d0c34d9124663313f7a446fb)
