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I know there's a lot of it but most of it really can't be separated out. Surface questions you have. I appreciate that this might take a while to review.\r\n\r\nThis PR should actually now come up on a robot with the feature flag set. Try it out by pushing it, connecting to the robot, and using the run app to switch the use protocol api v2 feature flag. When you reset the robot, it should be using protocol API 2.\r\n\r\nFor all of the changes here, the only external facing parts of the system that use this are the endpoints in /control. Try connecting to the robot and flipping lights, homing, refreshing connected modules, that sort of thing.\r\n\r\nCloses #2245 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