Fix RTSan test integration (fix #2809)

[ahoarau]

Description

This PR fixes the RTSan integration, not checking anything at runtime with [[clang::nonallocating]].
Replaces the call by a manual call to the realtime sanitizer instead.
This is a current limitation of RTSan/FunctionEffects known by the authors.

Fixes #2809

Checklist

• I have run pre-commit run --all-files or pixi run lint
• I have performed a self-review of my own code
• I have commented my code where necessary
• I have made corresponding changes to the doxygen documentation
• I have added tests that prove my fix or feature works
• I have updated the CHANGELOG or added the "no changelog" label if it's a CI-related issue
• I have updated the README credits section

[github-actions]

👋 Hi,
This is a reminder message to assign an extra build label to this Pull Request if needed.
By default, this PR will be build with minimal build options (URDF support and Python bindings)
The possible extra labels are:

• build_collision (build Pinocchio with coal support)
• build_casadi (build Pinocchio with CasADi support)
• build_autodiff (build Pinocchio with CppAD support)
• build_codegen (build Pinocchio with CppADCodeGen support)
• build_extra (build Pinocchio with extra algorithms)
• build_mpfr (build Pinocchio with Boost.Multiprecision support)
• build_sdf (build Pinocchio with SDF parser)
• build_accelerate (build Pinocchio with APPLE Accelerate framework support)
• build_all (build Pinocchio with ALL the options stated above)

Thanks.
The Pinocchio development team.

[jorisv]

No need to write a changelog entry because this fix some unreleased feature