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[VPlan] Simplify HCFG construction of region blocks (NFC).
Update the logic to update the successors and predecessors of region blocks directly. This adds special handling for header and latch blocks in place, and removes the separate loop to fix up the region blocks. Helps to simplify D158333. Reviewed By: Ayal Differential Revision: https://reviews.llvm.org/D159136
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