Update frenet conversion with ephi wrapping and raceline flag #353

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Run time

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Job	Run time
build (3.9)	59s
build (3.9)	1m 14s
build (3.10)	54s
build (3.10)	53s
build (3.11)	57s
build (3.11)	1m 7s
build (3.12)	58s
build (3.12)	52s
	7m 54s