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Update CI workflows to run multiple versions of rust
**Description** - Update CI to run multiple versions of rust: stable, beta, nightly, and 1.62 (as MSRV) - Update documentation to use `+nightly` when required, assuming a stable-preferred development environment. - In CI when running under the `nightly` version of rust, enable the `nightly` cargo feature when building and running tests - Add a new job that runs miri tests **Motivation** This change is taking advantage of the completion of issue #20, now that we don't strictly require any nightly unstable features. This allows us to test on multiple versions of rust. **Testing Done** None
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