[WIP] Merge dev branch into main

[aclegg3]

Motivation and Context

This PR contains the cumulative result of merging open PRs into the dev branch. NOTE: not planning to merge this until after the release of v0.3.2

How Has This Been Tested

CI testing here and against dev branch of habitat-lab here.

Types of changes

• [ ] Docs change / refactoring / dependency upgrade
• [x] Bug fix (non-breaking change which fixes an issue)
• [x] New feature (non-breaking change which adds functionality)
• [ ] Breaking change (fix or feature that would cause existing functionality to change)

Checklist

• [x] My code follows the code style of this project.
• [x] My change requires a change to the documentation.
• [x] I have updated the documentation accordingly.
• [x] I have read the CONTRIBUTING document.
• [x] I have completed my CLA (see CONTRIBUTING)
• [x] I have added tests to cover my changes.
• [x] All new and existing tests passed.