Merge branch 'master' into PA-dev2 #1646

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Run time

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Job	Run time
build macOS	5m 24s
static analysis	1m 51s
build release	8m 47s
build (x86_64)	10m 27s
unit tests	15m 20s
PR comments	0s
Create UI Report	11m 39s
process replay	22m 1s
simulator driving	11m 2s
cars (0)	25m 5s
cars (1)	21m 56s
docker push multiarch tag	0s
	2h 13m 32s