firmware: merge assorted improvements from master
(cherry picked from commit 95268566) (cherry picked from commit 5035c508) (cherry picked from commit 7a068d5b) (cherry picked from commit c598f2c8) (cherry picked from commit 4e2b0079) (cherry picked from commit f34f42d3) (cherry picked from commit a96b0da4) (cherry picked from commit 38efa570) (cherry picked from commit 2c5768dc)
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