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fix(lane_change): cherry pick for improvements #2404

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fix(lane_change): cherry pick for improvements

fix(lane_change): cherry pick for improvements #2404

Triggered via pull request April 4, 2024 13:59
@zulfaqar-azmi-t4zulfaqar-azmi-t4
synchronize #1223
cp-lane-change-intersection
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Total duration 2s
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