Debug symbols for releases

### What should we add or change to make your life better?
It would be great if YARP could either embed debug symbols or publish symbol packages for the assemblies published to nuget. Also having Source Link enabled would make things even more convenient.

### Why is this important to you?
When trying to debug into yarp code using the published nuget packages you are currently limited to the automated disassembly Visual Studio does which makes it needlessly hard to properly set breakpoints etc.

Start by reviewing how YARP assemblies are published to NuGet and whether the release process enables Source Link. Done means published packages provide usable debug symbols and Source Link so Visual Studio can set breakpoints and step into YARP code.

Written by the indexing model from the issue text.