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The support for traincascade.exe is not guaranteed with the latest versions of OpenCV. The open source world is moving massively to deep learning approaches without considering the "old school" methods are (still in 2020) the best trade-off in speed/accuracy for a lot of application.

Anyway you can use earlier versions of OpenCV to train cascades and you can take a look here for a lot of tricks about hyper speed haar, hog, lbp cascades: