I’ve noticed several TODOs scattered across various files. I’m wondering if these TODOs are tasks that only project mentors or maintainers are meant to complete, or if they are open for contributions from anyone interested.
You can attempt. There is no rule against it. It’s mostly, just there to look at for a later time as the comment title suggests.
Most advices tend to ask folks to “ask first discuss first before opening a PR” - but in my experience if you want to tackle it, go for it. Once PR is up, you should get reviews and spark a quick discussion on approach if the taken approach wasn’t up to standard or has some other issues.
Good luck, happy contributing 
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I came across a TODO in the Rocket.Chat codebase that mentions removing a specific file. Would it be appropriate for me to create a PR where it was removed?