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5020d33748
Move the UI core-affinity pin to after MainWindow init so startup and restart recovery can use all cores (pinning before init starved the restarting UI on the contended little cores, stretching recovery from ~30s to minutes). Move selfdrived off the saturated core 4 onto core 5 so its 100 Hz loop is no longer starved, eliminating selfdrivedLagging. Verified over a full drive: selfdrivedLagging=0, core4/core5 sustained >=95% only 0.3%/1.2% of the time, UI restart recovery ~15s with the device staying engaged, radar tracking unaffected.