(rebased) Implement Constraint Islands in ICF/CENIC#24636
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Sourced from #24629.
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Reviewable status: needs platform reviewer assigned, needs at least two assigned reviewers, labeled "do not merge", commits need curation (https://drake.mit.edu/reviewable.html#curated-commits), missing label for release notes.
Author: Vince Kurtz <vjkurtz@gmail.com> Assisted-By: Claude Opus 4.8 <noreply@anthropic.com> Co-authored by: Rick Poyner <rick.poyner@tri.global>
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dev/scratch branch toward #23755.
Original author: @vincekurtz plus as-yet unnamed vibe-code tools.
This change is