[LRS-52] Refactor and Fix Formatting

[kelvinqian00]

Refactor and reformat the LRS codebase in prep for open sourcing. Changes include (but not limited to):

• Removal unused requires and imports
• Removal or underscoring of unused args and bindings
• Breaking up long and/or deeply-nested functions into smaller pieces
• Reducing code duplication, e.g. by creative use of macros