Merge branch main into dev/zephyr_file_socket #3953

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wenyongh wants to merge 31 commits into dev/zephyr_file_socket from tmp_for_merge_main_to_dev/zephyr

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Merge branch main into dev/zephyr_file_socket #3953

Merge branch 'dev/zephyr_file_socket' into tmp_for_merge_main_to_dev/…

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