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Figured it out,

Turns out the argument in

void goal_response_callback(std::shared_future< rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose> > future)

Has to be

void goal_response_callback(std::shared_future< rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose::SharedPtr> > future)

Where after the action name, ::SharedPtr must be called.

Also in the CMake file, I omitted

add_executable(mover src/nav2_demo.cpp)
ament_target_dependencies(mover rclcpp rclcpp_action std_msgs nav2_msgs)

Otherwise, there is an undefined reference to main.