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feat(mapping): consolidate canonical CDR navigation and map algorithms - #4737

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TomCC7 wants to merge 12 commits into
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feat(mapping): consolidate canonical CDR navigation and map algorithms#4737
TomCC7 wants to merge 12 commits into
cc/feat/cdr-unit-perceptionfrom
cc/feat/cdr-unit-mapping

Keep the perception autofix ancestry in stack PR #4737

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