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Yeah, there is currently a bug and only one specific version of verilator works with cocotb (4.106). Hopefully it will be fixed soon. Go make noise here: https://github.com/verilator/verilator/issues/2778.
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I use signalflip-js, a framework I created using node-js before cocotb had verilator support. The framework has fairly efficient multi-clock support where it will only evaluate the model if there is an edge toggle. It also has phase support, kind of like UVM, where you can schedule tasks for Pre-run Phase, Reset Phase, Run Phase, and Post-run phase.
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