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What's the difference between include_directories and target_include_directories?

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I have seen others allude to include_directories as disfavored: Having trouble adding include directories

Summaries from CMake's documentation:

target_include_directories include_directories
"Specifies include directories to use when compiling a given target. The named <target> must have been created by a command such as add_executable() or add_library() and must not be an ALIAS target." "Add the given directories to those the compiler uses to search for include files. Relative paths are interpreted as relative to the current source directory."
"Note: Prefer the target_include_directories() command to add include directories to individual targets and optionally propagate/export them to dependents."

Should one be preferred over the other? If so, why?

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