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feat(out_of_lane): cherry-pick lane change bug fix + cut pred paths at red light #2410

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feat(out_of_lane): cherry-pick lane change bug fix + cut pred paths at red light

feat(out_of_lane): cherry-pick lane change bug fix + cut pred paths at red light #2410

Triggered via pull request April 8, 2024 08:19
@maxime-clemmaxime-clem
opened #1233
maxime-clem:cherry-pick/out_of_lane
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