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feat(start_planner): cherry pick #2332

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feat(start_planner): cherry pick

feat(start_planner): cherry pick #2332

Triggered via pull request March 5, 2024 18:07
@kyoichi-sugaharakyoichi-sugahara
opened #1173
beta/v0.20.1.4+PR6370
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Total duration 3s
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