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Cherry pick AOCODARCF4V3 target commit from master into 7.1.1 branch #4753

Cherry pick AOCODARCF4V3 target commit from master into 7.1.1 branch

Cherry pick AOCODARCF4V3 target commit from master into 7.1.1 branch #4753

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build-SITL-Mac

succeeded Apr 17, 2024 in 1m 17s