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Refactor memcpy_async for easier extensions.
Also make the memcpy_async tests slightly more robust.
Description
Closes #57
Checklist
- [x] New or existing tests cover these changes.
- [x] The documentation is up to date with these changes.
I think we can just go ahead and close this PR for now. It's not likely to be revived any time soon.
@griwes do you agree?