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bosch-transfer/22-02-08-update

Max Bauer requested to merge transfer/22-02-08-update into main

What: Transfer 22-02-08 commit from Bosch.

Contains the following improvements:

@rparisha2 Here is the (API changing) PR with the change towards util functions with references. You may need to update your Pr as well.

Edited by Max Bauer

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