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There appears to be a bug in TaskExecutorConfiguration when creating an AsyncTaskExecutor bean, the condition is:
@ConditionalOnMissingBean(Executor.class)
instead of on AsyncTaskExecutor.
The result is, if an app creates a bean of type Executor (such as a ScheduledExecutorService), this results in Spring’s default AsyncTaskExecutor beans to not be created. The application will fail to start because of the missing beans.
This is for apps trying to use the bean generated for the configuration with the Task Execution and Scheduling feature. If an app creates a bean of type Executor, the above bean never gets created.