Thanks for starting this.
Now that we've started going down this path, I think we should remove all restrictions that don't have a strong justification.
Other examples of restrictions without strong justification are not allowing duplicate conditions, requiring conditions to be grouped by variable and not allowing contradictory conditions. (You mention dropping this restriction for the goal, but I would then also drop it for preconditions, effect conditions and axioms.)
An example of a justified restriction is the semantic restriction that mutexes must indeed be mutexes because we cannot efficiently verify this.
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