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fix(core): fix concurrency bug in task graph
This fixes a race condition discovered in the recently introduced batch-oriented concurrency changes to the task graph. Here, we store each task node's original dependencies directly on the node itself, and do away with the `taskDependencyCache` that was previously used (and seemed to be the cause of the race condition). We used the opportunity to do some refactoring and cleaning up in the `TaskGraph` class while we were at it.
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