Since #34411, pkgconf/pkg-config is no longer strictly required.
It is currently required for ZeroMQ on several major distributions and operating systems, including Debian, Ubuntu, the BSD derivatives, and Gentoo.
Regarding QRencode, our FindQRencode.cmake module treats pkgconf/pkg-config as optional and can successfully locate the package without it.
This PR amends #34411 and updates the build notes accordingly.
Addresses #34411#pullrequestreview-4553185425.