Add upgrade-on-CaN (trampolining) support #888

Job	Run time
build-lint-test (macos-latest, 4.0)	14m 1s
build-lint-test (ubuntu-latest, 3.3)	11m 7s
build-lint-test (macos-latest, 3.3)	11m 24s
build-lint-test (ubuntu-latest, 4.0)	10m 21s
	46m 53s

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