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Drag and drop components into the page and don't author it. Go to preview mode the Dom gets loaded.
How do I avoid this ?
to remove AEM generated wrapper div you can setcq:noDecoration property. You can find more details here: https://experienceleague.adobe.com/docs/experience-manager-65/developing/components/decoration-tag.h...
For custom generated dom you can simply put logic based on your authored properties.
Hope this helps!!