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Run a command later

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How can I run a command later? I'm looking for a CLI way to schedule a command to be run later.

I know that I could create a systemd timer, install it, activate it... That is too much work. I want something like runlater 10min some_cmd and some_cmd runs 10 min later.

I don't want to do sleep 600 && some_cmd because that will block. After I schedule the program to run later, I want to go back to my shell, do some other stuff, close the terminal, and the command should still execute when it's time.

If I schedule a program for 10 mins later and shut down the computer 8 mins later, I don't really care what happens. The program can end up being not run. A notification about it the next time I boot up would be nice, but otherwise I'm thinking of situation where the uptime will not be interrupted.