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I found this code/hack online. Putting it in the cpp of the test file worked:

namespace {

// This is a bit of a hack to make thread sanitizer ignore a race condition
// in the constructor of the rclcpp::Node
#if defined(__has_feature)
#if __has_feature(thread_sanitizer)
__attribute__((no_sanitize("thread")))
#endif
#endif
rclcpp::Node::SharedPtr
make_node(std::string const& name, rclcpp::NodeOptions const& options) {
  return std::make_shared<rclcpp::Node>(name, options);
}
}  // namespace