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I'm pretty sure you don't release pre-release versions without -pre or -beta or -rc tags in the end.

Technically you don't have to with semver, it's just a good practice. From https://semver.org/:

> A pre-release version MAY be denoted by appending a hyphen and a series of dot separated identifiers immediately following the patch version.

Note that it says "MAY" and not "MUST", so it's optional.