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scanspec2: port remaining geometric specs from 1.x#212

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hyperrealist wants to merge 7 commits into
bluesky:v2-devfrom
hyperrealist:196-changes-for-2-0-tdd
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scanspec2: port remaining geometric specs from 1.x#212
hyperrealist wants to merge 7 commits into
bluesky:v2-devfrom
hyperrealist:196-changes-for-2-0-tdd

docs: add PRD as authoritative design intent; refresh AGENTS

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