How to set Timeouts in commands in wpilib

How do we set timeouts in commands in wpilib? Last year, we used the setTimeout method to control waits in our commands. This year, this command seems to have vanished. Is there a replacement to this command, or is their a library to be imported to use the command.

Thank you in advance

I believe it is replaced by withTimeout, take a look here: https://docs.wpilib.org/en/latest/docs/software/commandbased/convenience-features.html#withtimeout

This could work, maybe

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