Applies to 23-rt1 + Steve's latest push_rt patch

Changes since v3:

1) Rebased to Steve's latest
2) Added a "highest_prio" feature to eliminate a race w.r.t. activating a task
   and the time it takes to actually reschedule the RQ.
3) Dropped the PI patch, because the highest_prio patch obsoletes it.
4) Few small tweaks
5) Few small fixes

Regards,
-Greg
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