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The DFT structures are inserted usually by the synthesis tool, so Genus for Cadence and Design Compiler for Synopsys. The typical flow is to get a first synthesis to pass. Then you go adding the DFT commands until you get it like you want. This includes boundary scan, regular scan chain, MBIST, perhaps LBIST, and perhaps a JTAG IP. The tool does create some files that will be used by the P&R too.
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