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CUDA sync fixes (#473)

* Fix sync issues in CUDA backend

- there is no need for synchronize (texture caches get cleared before each kernel launch)
- fix a bug where we released resources for a command buffer early
- using events without timing (optimization)

* Add static_assert to make sure page size is valid

Allocation function depends on the fact that page size is a multiple of the alignment!

* Fix invalid return code

* Add missing error handling

* Remove obsolete calls to cuStreamSynchronize

The synchronous copy calls following later will implicitly sync.

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