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Add mass matrix support for FIRK and MIRK#521

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Add mass matrix support for FIRK and MIRK#521
SebastianM-C wants to merge 2 commits into
SciML:masterfrom
SebastianM-C:smc/mass_matrix

Error on adaptive solves for DAEs and add index-1 DAE tests

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succeeded Jul 2, 2026 in 22m 52s