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Merge changes to v2024dev1 to v2024dev2

Martyn Welch requested to merge wip/martyn/kernel-update into apertis/v2024dev2

A number of changes have been made to the v2024dev1 kernel that aren't in the v2024dev2 branch, including updating to v6.1.20 from bookworm. Merge these changes in and update the compiler following the update of the compiler used in v2024dev2.

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