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Phase 2 prep: freestanding/embedded profile groundwork + Pico 2W guide

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CI on: push 16

ubuntu-latest / g++ / C++17

ubuntu-latest / g++ / C++20

ubuntu-latest / clang++ / C++17

ubuntu-latest / clang++ / C++20

macos-latest / clang++ / C++17

macos-latest / clang++ / C++20

windows-latest / msvc / C++17

windows-latest / msvc / C++20

ASan + UBSan (unit tests)

Fuzzer smoke test (standalone + ASan)

RTSan + function-effects (realtime hot path)

Freestanding profile (g++, -fno-exceptions -fno-rtti)

Freestanding profile (clang++, -fno-exceptions -fno-rtti)

ThreadSanitizer (receive loop concurrency)

CI on: pull_request 16