build: Clean up build toolchain (and use musl for libc)

Using musl is required to match several functions that use <math.h>
floating point functions like isnan.

This also removes a dependency on devkitA64. We previously only needed
it because Clang insisted on using GCC to link the final executable
owing to the use of a "bare metal" target like aarch64-none-elf.
We can make Clang invoke the linker itself by using a Linux target.

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