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I have manually tested - with both OSS and ENT - upgrading from a 3-node Vault 1.9.2 cluster to a vault binary including this change. I used the standard minimal-downtime upgrade procedure wherein each standby node is replaced in turn, followed by the leader. After upgrading I verified that vault was healthy by sending a bunch of writes to it and checking the autopilot and leader status endpoints (also via log inspection).
Also note re the changelog entry: we haven't seen any instances of this Raft bug in Vault yet, but Consul has, and we're definitely vulnerable to them in theory.