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I don't know how too much about XMR and ZEC in regards to their improvement process, but I do know the reason ETH gets away with it is because ETH doesn't have social consensus at all. Vitalik implemented the difficulty bomb from the very beginning and anyone against Vitalik had to hard fork (Ethereum Classic). So I don't think that one was a very good example.
From the examples of hard forking altcoins, what is in their social consensus that you foresee Bitcoin adopting, or otherwise what unique version of hard forking social consensus do you foresee Bitcoin using?
XMR simply has a clear social consensus that they do hard forks frequently.
Look, obviously exactly how we might reach that point with Bitcoin is unclear until it happens. But the fact is it's technically possible. Just need the right situation to do it.
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