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feat: add PhysicalJoinType
BREAKING CHANGE: the JoinType for physical operators HashJoin, MergeJoin, and NestedLoopJoin has been refactored into a shared enum called PhysicalJoinType. It is wire compatible and a new is_null_aware field is added to the physical join rels.
Closes https://github.com/substrait-io/substrait/issues/563