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[issue1131] Backport some small fixes and changes from Scorpion. #1319

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[issue1131] Backport some small fixes and changes from Scorpion.

[issue1131] Backport some small fixes and changes from Scorpion. #1319

Run time

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Job Run time
Compile and test planner (macos-11, 3.8)
9m 14s
Compile and test planner (macos-12, 3.10)
8m 28s
17m 42s