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I did not want to declare another launch argument, so I generalized the PythonExpression solution above in a function.

from launch import SomeSubstitutionsType
from launch.substitutions import PythonExpression
from launch.utilities import normalize_to_list_of_substitutions

def cat_substitutions(substitutions: SomeSubstitutionsType) -> Substitution:
    return PythonExpression(["'", *normalize_to_list_of_substitutions(substitutions), "'"])