chore: merge 2.3.0 back to develop-2.0.0 #3390
                
     Merged
            
            
          
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This PR merges the changes made to the v2.3.0 branch back into develop-2.0.0 while also adding an unreleased section in the changelog.
Backport
No back port is needed for this chore.
Changelog
NA
Testing and Documentation