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[v2.3-stable] Improve Locking

Simon Spannagel requested to merge b-locking into v2.3-stable

This is a backport of !885 (merged). I consider this a bugfix because it does not change functionality but removes undesired locking of the APSQ core. Physics is untouched, so this can go into a patch release I would say. Diverging opinions?

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