How are introduction points and rendezvous points chosen for onion services

Are introductions points/rendezvous points just regular relays?
I know some relays that are fast and stable can become HsDir flagged which gives them the ability to store and serve the Descriptor Hash Ring, but I cant seem to find what the technicalities are for introduction points/rendezvous points. I found this old blog post from 2013 in which a TOR employee explains that introduction points are regular relays which causes scalability and DOS issues. Surely in the last ten years there has been some update?

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