CI test both with and without optional dependencies installed

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Same reasons we test against python 3.8, 3.9, 3.10, and 3.11

Related: #1786

If we test with opencv installed, then we don't know if things break for people without opencv installed. Same for vice-versa. Not an issue yet since opencv is only used in an untested, experimental module. May be relevant if we have any other optional dependencies, but I'm only aware of the optional shapely dep which was removed.

Justification in Discord: https://discord.com/channels/458662222697070613/458662458198982676/1109149038219112518