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C (gcc), 324 bytes
The function f takes a null-terminated string and prints the tokens to stdout. All newlines can be removed from the code below.
f(char*s){
int n=strlen(s),b=0,z[n-~n],F[n+1],u,a,x=0,l,m,*t=z+n;
int K(i){~m&&s[i]^s[a+m]?m=t[m],K(i):++m;}
for(;b<2*n;){
for(a=b++%n,m=l=-1;a+l<...