Stereo and MCH optimizations [allow regression]

Sandesh Venkateshrequested to merge
stereo_mch_optimizations into main

Small deviations in MLD. Enabling allow regression.

WMOPS before changes:

WMOPs_before_changes.txt

WMOPS after changes:

WMOPs_after_changes.txt

Edited by Sandesh Venkatesh

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