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revert(map_based_prediction): use different time horizon (#967) #2919

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revert(map_based_prediction): use different time horizon (#967)

revert(map_based_prediction): use different time horizon (#967) #2919

Run time

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Job Run time
build-and-test-differential (humble)
2m 50s
clang-tidy-differential
22s
3m 12s