Support zero-delay cycles #3869

Job	Run time
check-diff / check	19s
serialization / serialization-tests	9m 23s
c / benchmarking / benchmark-tests	6m 18s
c / default / regular-tests (ubuntu-latest)	28m 22s
c / ccpp / regular-tests (ubuntu-latest)	19m 54s
c / verifier / run (ubuntu-latest)	7m 58s
cpp / cpp-benchmark-tests / benchmark-tests	12m 1s
cpp / cpp-ros2-tests / cpp-ros2-tests	40m 28s
cpp / cpp-tests / regular-tests (ubuntu-latest)	38m 4s
py / py-tests / regular-tests (ubuntu-latest)	20m 22s
rs / rs-benchmark-tests / benchmark-tests	15m 14s
rs / rs-tests / regular-tests (ubuntu-latest, stable)	10m 14s
ts / benchmarking / benchmark-tests	5m 30s
ts / ts-tests / regular-tests (ubuntu-latest)	9m 32s
	3h 43m 39s

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