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Remove a bunch of legacy code that's no longer used (#4609)
Supersedes #4553. That PR identified some issues with legacy code that's not really necessary anymore. This PR removes the `graph_utils.cuh` file and gets rid of a few straggling functions that still used it. Authors: - Chuck Hastings (https://github.com/ChuckHastings) Approvers: - Seunghwa Kang (https://github.com/seunghwak) - Robert Maynard (https://github.com/robertmaynard) URL: #4609
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