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#867 Use `relnextIntersection` and `relprevIntersection`

Closes #867 (closed). Best to review commit-by-commit.

I ran the CIF benchmark with these changes: benchmark.html

Only the performance of 'multi_agent_formation' got slightly worse. I'm not sure why. But on average the performance improved from about 3x to about 3.4x faster.

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