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Rollup merge of rust-lang#68468 - ssomers:btreemap_prefer_middle, r=Mark-Simulacrum
BTreeMap: tag and explain unsafe internal functions or assert preconditions
rust-lang#68418 concluded that it's not desirable to tag all internal functions with preconditions as being unsafe. This PR does it to some functions, documents why, and elsewhere enforces the preconditions with asserts.
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