feat: rust performance and api improvements (#2080) #1161

Job	Run time
lint	3m 23s
self-hosted-tests (self-hosted, macos, arm64, self_hosted, true)	30m 25s
md-babel	9m 54s
self-hosted-tests (self-hosted, Linux, ghcr.io/dimensionalos/ros-dev:dev, self_hosted or skipif_n...	18m 3s
tests (3.13, ubuntu, false)	6m 17s
tests (3.12, ubuntu, false)	6m 40s
tests (3.11, ubuntu, false)	7m 26s
tests (ubuntu, 3.14t, false)	6m 43s
tests (3.10, ubuntu, false)	6m 8s
tests (3.14, ubuntu, false)	6m 3s
fail-fast	-1s
ci-complete	5s
	1h 41m 6s

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