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Add WaitForSynced to beacon node for validator startup (#5366)
* Add WaitForSynced to beacon-chain * Fix build issues * Fix comment * Merge branch 'master' of https://github.com/prysmaticlabs/prysm into simplify-validator * Fix tests * Merge branch 'master' of https://github.com/prysmaticlabs/prysm into simplify-validator * Merge branch 'master' of https://github.com/prysmaticlabs/prysm into simplify-validator * Merge branch 'master' into simplify-validator * Merge branch 'master' into simplify-validator * Merge branch 'master' into simplify-validator
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