We are grateful to M. Korhonen and D. Testerman for helpful comments on an earlier version of the manuscript, and to A. Thomas for providing the G2 example in Example 4.13. We thank the referee for a number of comments clarifying some points. Some of this work was completed during a visit to the Mathematisches Forschungsinstitut Oberwolfach: we thank them for their support. For the purpose of open access, the authors have applied a Creative Commons Attribution (CC BY) licence to any Author Accepted Manuscript version arising from this submission.Peer reviewe
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