Codex/sync dev main

[Sopwit]

Summary

Describe what this PR changes and why.

Type of Change

• Bug fix
• New feature
• Refactor
• Documentation update
• Build/CI change

Related Issues

Closes #

Testing

List how this change was tested:

• Unit tests
• Integration tests
• Manual test

Commands run:

cmake -B build -GNinja -DCMAKE_BUILD_TYPE=Release -DBUILD_TESTS=ON
cmake --build build --parallel
ctest --test-dir build --output-on-failure

Checklist

• I read CONTRIBUTING.md
• I updated documentation if needed
• I added/updated tests where relevant
• I verified formatting and linting locally