Merge vcu128-commissioning-fixEoR to "main" branch

This branch is what is running at p5, for a few weeks now. It appears to be quite stable for the time being. @rardino @glazzari and myself have agreed to merge this to main as soon as possible. @glazzari has agreed to look at "cleaning up" the history. From that "cleaned" branch we will create an MR to main.