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[v9.x backport] This is backporting multiple commits that were requested

Rodrigo Muino Tomonari requested to merge github/fork/BridgeAR/v9-backports into v9.x-staging

This is a backport of multiple commits that were requested to be backported. It just seemed easier for me to do this in one batch. I can also split this into multiple PRs if requested.

#18610 #18669 #18745 #18758 #18831 #18857 #17919

Checklist
  • make -j4 test (UNIX), or vcbuild test (Windows) passes
  • tests and/or benchmarks are included
  • documentation is changed or added
  • commit message follows commit guidelines

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