Daniel Stenberg 625f2c1644
lib: include files using known path
by including headers using "../[header]" when done from C files in
subdirectories, we do not need to specify the lib source dir as an
include path and we reduce the risk of header name collisions with
headers in the SDK using the same file names.

Idea-by: Kai Pastor

Ref: #16949
Closes #16991
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