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feat(goal_planner): fix non-thread-safe access in goal_planner (revert of #6809 and minor fix) #4511

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feat(goal_planner): fix non-thread-safe access in goal_planner (revert of #6809 and minor fix)

feat(goal_planner): fix non-thread-safe access in goal_planner (revert of #6809 and minor fix) #4511

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