Merge branch 'ulis_final' into 'main'

Review changes from Work items

Closes #674, #670, #692, #691, #689, #688, #687, #686, #685, #684, #683, #682, #681, #680, #679, #678, #677, #676, #675, #673, #671, and #548

See merge request cyber/stan4cr2/en-304-621!72