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Having a separate lock means Thread.join() doesn't need to wait for the thread to be cleaned up first. It can wait for the thread's Python target to finish running. This gives us some flexibility in how we clean up threads.

This is essentially an un-revert of gh-104754, which broke CI with dangling threads, with fixes. ./python -m test --fail-env-changed test_threading -m test_excepthook -F -j20 now passes.

(This is necessary for fixing gh-104341.)

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