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* allow steer if minSteerSpeed is <= 0 * need to understand lkas_blocked, can we just use that? need to understand lkas_blocked, can we just use that? * Revert "need to understand lkas_blocked, can we just use that?" This reverts commit 8793fb562d6ba41ce4fd8c8e8a974d639e98f79b. * better * fix * little more clear Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: 20085620db8fbb7ed6d7a4ae8b8d147031ad6fe2