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Why does this mean that there is 'likely no fork' for BTC?

It's kind of a misnomer as any upgrade is a fork.

Here is BIP91: https://github.com/bitcoin/bips/blob/master/bip-0091.mediawiki

Soft Forks are essentially an upgrade that doesn't create a permanent secondary blockchain like what happened with ETH and ETC. See: https://en.bitcoin.it/wiki/Softfork

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