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Merge branch 'bugfix/periodic_adv_enh_fixes_v5.1' into 'release/v5.1' #795

Merge branch 'bugfix/periodic_adv_enh_fixes_v5.1' into 'release/v5.1'

Merge branch 'bugfix/periodic_adv_enh_fixes_v5.1' into 'release/v5.1' #795

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