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It looks like readthedocs has upgraded its Sphinx version, which now produces new warnings in our documentation (e.g. in #6235 here). As far as I can tell this is caused by internal links that specify markdown files with their file ending. The links work with or without file ending, but with the ending there is a warning in the build process (which is interpreted as an error by our CI because of our configuration). Removing the file ending removes the warning and the links still work (checked in both html and pdf).