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feat(behavior_velocity_run_out): cherry pick feature improvements #2437

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feat(behavior_velocity_run_out): cherry pick feature improvements

feat(behavior_velocity_run_out): cherry pick feature improvements #2437

Triggered via pull request April 11, 2024 06:53
@TomohitoAndoTomohitoAndo
synchronize #1249
cherry-pick-run-out-improve
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