Merge release to develop for release 4.0.4

[kjrush]

PR Details

Description

Merge PR to formalize release of feature/sync-develop-with-4.0.4-release into develop as part of CARMA release process for 4.0.4.

PR created automatically via CARMA release tool and Github CLI

Motivation and Context

This PR brings the tested and reviewed contents of the feature/sync-develop-with-4.0.4-release release/candidate into develop for final release preparation

How Has This Been Tested?

This release branch (minus final version number changes) has been tested through the CARMA verification test plan.

Checklist:

• [X] I have added any new packages to the sonar-scanner.properties file
• [X] My change requires a change to the documentation.
• [X] I have updated the documentation accordingly.
• [X] I have read the CONTRIBUTING document. CARMA Contributing Guide
• [X] I have added tests to cover my changes.
• [X] All new and existing tests passed.