Support zero-delay cycles #3920

Job	Run time
check-diff / check	18s
serialization / serialization-tests	9m 34s
rs / rs-tests / regular-tests (ubuntu-latest, stable)	10m 46s
rs / rs-benchmark-tests / benchmark-tests	15m 22s
py / py-tests / regular-tests (ubuntu-latest)	20m 15s
c / benchmarking / benchmark-tests	6m 47s
c / ccpp / regular-tests (ubuntu-latest)	24m 33s
c / default / regular-tests (ubuntu-latest)	28m 19s
cpp / cpp-benchmark-tests / benchmark-tests	11m 56s
c / verifier / run (ubuntu-latest)	7m 57s
cpp / cpp-ros2-tests / cpp-ros2-tests	42m 11s
cpp / cpp-tests / regular-tests (ubuntu-latest)	51m 12s
ts / benchmarking / benchmark-tests	5m 48s
ts / ts-tests / regular-tests (ubuntu-latest)	9m 41s
	4h 4m 39s

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