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Make GoalSubsystem subclass Subsystem. (#10483)
Previously it subclassed the same bases as Subsystem, and reimplemented some of its functionality, which was a weird quirk: you'd expect something called GoalSubsystem, which acts like a Subsystem, to actually be one. This change folds one of those bases (SubsystemClientMixin) into Subsystem, and gets rid of it. A future change will similarly merge Subsystem and Optionable, since there is now only one kind of Optionable. [ci skip-rust] [ci skip-build-wheels]
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