refactor(multi_object_tracker): internal message driven process #2539

Job	Run time
require-label / require-label	1s
check-if-cuda-job-is-needed	18s
build-and-test-differential / build-and-test-differential	8m 57s
build-and-test-differential-cuda / build-and-test-differential	8m 55s
clang-tidy-differential / clang-tidy-differential	0s
clang-tidy-differential-cuda / clang-tidy-differential	5m 53s
	24m 4s

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