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Milestones have been deprecated. Any existing milestones in your organization will be converted to Roadmaps.
Linear app settings showing milestones page

When you open Linear, you will see a new version of Roadmaps that lets you create multiple roadmaps, each with their own list of projects. You can use these to roll your projects up into initiatives, product lines, or company goals — just like you may have done with milestones.