[15015] Improve read/take performance (backport #2785)

[mergify]

This is an automatic backport of pull request #2785 done by Mergify.
Cherry-pick of 8578614 has failed:

On branch mergify/bp/2.6.x/pr-2785
Your branch is up to date with 'origin/2.6.x'.

You are currently cherry-picking commit 857861456.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   src/cpp/fastdds/subscriber/DataReaderImpl.cpp
	modified:   src/cpp/fastdds/subscriber/DataReaderImpl/ReadTakeCommand.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   src/cpp/fastdds/subscriber/history/DataReaderHistory.cpp
	both modified:   src/cpp/fastdds/subscriber/history/DataReaderHistory.hpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[MiguelCompany]

@richiprosima Please test this

[MiguelCompany]

@richiprosima Please test mac

[JLBuenoLopez]

LGTM with green CI