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I failed to find users of these macros outside the CPython code base, so it sounds safe to remove it, especially if it's documented in What's New in Python 3.10.
If someone reports the removal as a regression and describes a legit use case, we can reconsider to revert the removal. Until that, I'm fine with removing them.
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I ran grep on Cython and numpy code base: I cannot find "Py_ALLOW_RECURSION", "Py_END_ALLOW_RECURSION" or "recursion_critical".
On GitHub, I only found copies of Include/ceval.h (I looked at the first 5 pages of result):
https://github.com/search?l=C&q=Py_ALLOW_RECURSION&type=Code