[Bouffalo Lab] Cherry-pick: mfd, bl616, bl704l contact sensor, crash fixes, documents updates #4
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ubuntu-latest pipelines will use ubuntu-24.04 soon. For more details, see https://github.com/actions/runner-images/issues/10636
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`pre` execution is not supported for local action from './.github/actions/checkout-submodules-and-bootstrap'
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