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fix(lane_change): cherry pick lane change PRs for x2 #1911

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fix(lane_change): cherry pick lane change PRs for x2

fix(lane_change): cherry pick lane change PRs for x2 #1911

Triggered via pull request October 6, 2023 11:24
@zulfaqar-azmi-t4zulfaqar-azmi-t4
synchronize #897
cp-lane-change-x2
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Total duration 3s
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