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Refactored the Radau transcription to avoid the use of StateIndependentsComp #1843

Refactored the Radau transcription to avoid the use of StateIndependentsComp

Refactored the Radau transcription to avoid the use of StateIndependentsComp #1843

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1 error and 2 warnings

test_ubuntu (oldest, 3.9, 1.22, 1.7, 4.0, 3.0, 3.13, v2.9.0, 7.2, 3.28.0, 3.5, [test], false)

failed Jan 8, 2025 in 1m 1s
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14s
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7s
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