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der: refactor `Reader::read_nested` #3038

Job	Run time
minimal-versions	0s
build (1.72.0, thumbv7em-none-eabi)	29s
test (1.72.0)	27s
build (1.72.0, wasm32-unknown-unknown)	27s
test (stable)	25s
build (stable, thumbv7em-none-eabi)	16s
build (stable, wasm32-unknown-unknown)	22s
	2m 26s

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