Support zero-delay cycles #3872

Job	Run time
check-diff / check	19s
serialization / serialization-tests	9m 19s
c / benchmarking / benchmark-tests	6m 42s
c / default / regular-tests (ubuntu-latest)	18m 11s
c / ccpp / regular-tests (ubuntu-latest)	19m 55s
c / verifier / run (ubuntu-latest)	7m 59s
cpp / cpp-benchmark-tests / benchmark-tests	11m 41s
cpp / cpp-ros2-tests / cpp-ros2-tests	44m 53s
py / py-tests / regular-tests (ubuntu-latest)	19m 42s
cpp / cpp-tests / regular-tests (ubuntu-latest)	50m 26s
rs / rs-benchmark-tests / benchmark-tests	15m 31s
rs / rs-tests / regular-tests (ubuntu-latest, stable)	10m 26s
ts / benchmarking / benchmark-tests	5m 51s
ts / ts-tests / regular-tests (ubuntu-latest)	9m 20s
	3h 50m 15s

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