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Why there is an extrusion hanging in the air over a multi material wipe tower?
That is the final ramming before the filament is pulled from the nozzle and parked into the filament switcher. See #1355 for further details.
Why is the jerk unit in mm/s, if the physical unit shall be rate of change in acceleration = mm/s^3?
The GRBL project overloaded the term of "jerk" to define maximum instantaneous velocity change, which is easier to be implemented by 8bit controllers, and most of today's 3D printer firmwares are based on the GRBL planner. See #1355 for further details.