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Check out Latitude for examples of all these.
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To have all contributors sign the CLA, there’s a handy Gtihub Action that automatically requires new contributors to do so.
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As a general rule, I recommend against completely automating the release of your software and instead have a manual approval step required at some point in the process. Tools like changesets, the one we use at Latitude, greatly help with this. Changesets takes care of publishing new packages, updating changelogs, and tagging releases, yet it can only do so via automatic pull requests that have the same approval requirements as any other PR at Latitude.