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feat(mpc_lateral_controller): cherry pick #2333

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feat(mpc_lateral_controller): cherry pick

feat(mpc_lateral_controller): cherry pick #2333

Triggered via pull request March 5, 2024 18:40
@kyoichi-sugaharakyoichi-sugahara
opened #1174
kyoichi-sugahara:beta/v0.20.1.4+PR6541
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