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Multicast receive + complete the realtime story + cleanups#22

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tap wants to merge 4 commits into
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claude/phase2-multicast-rt
Open

Multicast receive + complete the realtime story + cleanups#22
tap wants to merge 4 commits into
mainfrom
claude/phase2-multicast-rt

Fix macOS CI: suppress SIGPIPE on UDP multicast send

f6a9203
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