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Measurement is an essential component of quantum algorithms, and for superconducting qubits it is often the most error prone. Here, we demonstrate model-based readout optimization achieving low measurement errors while avoiding detrimental side effects. For simultaneous and midcircuit measurements across 17 qubits, we observe 1.5% error per qubit with a 500 ns end-to-end duration and minimal excess reset error from residual resonator photons. We also suppress measurement-induced state transitions achieving a leakage rate limited by natural heating. This technique can scale to hundreds of qubits and be used to enhance the performance of error-correcting codes and near-term applications.