Support for Time Optimal Control

Hello all,

I am quite new to acados, and optimal control in general.

I am trying to do time optimal control. I have found this thread discussing the issue:

The workaround presented in the thread strikes me as a bit of a hacky fix, and it seems like it would not necessarily produce a time optimal solution. The thread is a few years old now, but I have not been able to find newer information on the subject. Has support for time optimal control been implemented, and if not, is there any plan to do so?