Implement specialized MvNormal density based on precision matrix #4388

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The following actions uses Node.js version which is deprecated and will be forced to run on node20: conda-incubator/setup-miniconda@v2. For more info: https://github.blog/changelog/2024-03-07-github-actions-all-actions-will-run-on-node20-instead-of-node16-by-default/

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