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Make the Darwin per-step YAML timeouts larger and configurable. (#14368)
This makes the following changes: 1) Bumps kTimeoutInSeconds from 3 to 5. 2) For "WaitForMs" commands, sets the timeout to (waitTime/1000) + kTimeoutInSeconds, so longish waits work automatically. 3) Allows specifying a "stepTimeoutSecs" property in the YAML to override all of that and just set a value. Fixes #14364 Fixes #14260
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