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doc: Clarify branching after Eigen discussion
In https://github.com/AndreaCensi/csm/issues/33, a new direction to use Eigen is discussed for longer maintenance purpose. This PR attempts to update and clarify branching policy.
I cannot assign but @cst0 @malban please review this PR along with https://github.com/AndreaCensi/csm/issues/33#issuecomment-1216715272.