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if I commit something to the upstream repository, does this also update the release repository?

No. The upstream and release repository are separate repositories that have no direct relationship.

do I have to release a new version each time I make a change?

Well, no. You don't have to. It depends on what you find 'release worthy'. Releases typically group a bunch of changes.

I guess you could say that releases are somewhat of a convenience for your users: if every change was followed by an immediate release, your users could just as well clone your development repository (I'm obviously ignoring things like packaging and installation, compatibility guarantees, etc).

if I commit something to the upstream repository, does this also update the release repository?

No. The upstream and release repository are separate repositories that have no direct (physical) relationship.

do I have to release a new version each time I make a change?

Well, no. You don't have to. It depends on what you find 'release worthy'. Releases typically group a bunch of changes.

I guess you could say that releases are somewhat of a convenience for your users: if every change was followed by an immediate release, your users could just as well clone your development repository (I'm obviously ignoring things like packaging and installation, compatibility guarantees, etc).