After 20 years of development PREEMPT_RT has been merged and will go live with version 6.12
This means Linux now supports execution programs that cannot be interrupted with kernel hw interrupt. The kernel can stop almost any task at any point to execute such an important task at any time. This is critical for many programs. Think of the brakes of a car or a medical device.
Normally such functionality requires hardware support and software that is almost like an entire separate os called "real-time OS".
Here are pics from the celepration of the merge: