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how has high frequency trading firms and market makers such as citadel improved the overall stock market efficiency in terms of order execution and liquidity?

how has high frequency trading firms and market makers such as citadel improved the overall stock market efficiency in terms of order execution and liquidity? Also, do the ethical concerns such as using predatory trading strategies outweigh the benifits of the efficiency that these firms have created, or is it just a small price to pay for their "service"?

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