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Backport some small changes from Scorpion. #1316

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Backport some small changes from Scorpion.

Backport some small changes from Scorpion. #1316

Run time

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Job Run time
Compile and test planner (macos-11, 3.8)
9m 39s
Compile and test planner (macos-12, 3.10)
5m 41s
15m 20s