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feat(start_planner): cherry pick #2286

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feat(start_planner): cherry pick

feat(start_planner): cherry pick #2286

Triggered via pull request February 8, 2024 10:02
@kyoichi-sugaharakyoichi-sugahara
synchronize #1136
kyoichi-sugahara:hotfix/v0.44.0/start_planner_safety_check
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