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[Perf] Avoid thread offload in full duplex orchestrator when possible - #9491

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[Perf] Avoid thread offload in full duplex orchestrator when possible#9491
AlessioNetti wants to merge 3 commits into
vllm-project:mainfrom
AlessioNetti:full-duplex-performance-optimizations

Refactor _submit_command() and reduce code duplication

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