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Using HISQ $N_f=2+1+1$ MILC ensembles with five different values of the lattice spacing, including four ensembles with physical quark masses, we have performed the most precise computation to date of the $K\to\pi\ell\nu$ vector form factor at zero momentum transfer, $f_+^{K^0\pi^-}(0)=0.9696(15)_\text{stat}(12)_\text{syst}$. This is the first calculation that includes the dominant finite-volume effects, as calculated in chiral perturbation theory at next-to-leading order. Our result for the form factor provides a direct determination of the Cabibbo-Kobayashi-Maskawa matrix element $|V_{us}|=0.22333(44)_{f_+(0)}(42)_\text{exp}$, with a theory error that is, for the first time, at the same level as the experimental error. The uncertainty of the semileptonic determination is now similar to that from leptonic decays and the ratio $f_{K^+}/f_{\pi^+}$, which uses $|V_{ud}|$ as input. Our value of $|V_{us}|$ is in tension at the 2--$2.6\sigma$ level both with the determinations from leptonic decays and with the unitarity of the CKM matrix. In the test of CKM unitarity in the first row, the current limiting factor is the error in $|V_{ud}|$, although a recent determination of the nucleus-independent radiative corrections to superallowed nuclear $\beta$ decays could reduce the $|V_{ud}|^2$ uncertainty nearly to that of $|V_{us}|^2$. Alternative unitarity tests using only kaon decays, for which improvements in the theory and experimental inputs are likely in the next few years, reveal similar tensions. As part of our analysis, we calculated the correction to $f_+^{K\pi}(0)$ due to nonequilibrated topological charge at leading order in chiral perturbation theory, for both the full-QCD and the partially-quenched cases. We also obtain the combination of low-energy constants in the chiral effective Lagrangian $[C_{12}^r+C_{34}^r-(L_5^r)^2](M_\rho)=(2.92\pm0.31)\cdot10^{-6}$., Comment: 42 pages and 12 figures. Expanded discussion of fit methodology. Finite volume error increased, conclusions unchanged. Version accepted by Phys. Rev. D

We discuss the reduction of errors in the calculation of the form factor $f_+^{K \pi}(0)$ with HISQ fermions on the $N_f=2+1+1$ MILC configurations from increased statistics on some key ensembles, new data on ensembles with lattice spacings down to 0.042 fm and the study of finite-volume effects within staggered ChPT. We also study the implications for the unitarity of the CKM matrix in the first row and for current tensions with leptonic determinations of $\vert V_{us}\vert$., Comment: 7 pages, 2 figures, to appear in the Proceedings of Lattice 2016, The 34th International Symposium on Lattice Field Theory, held 24-30 July 2016, at the University of Southampton, UK. v2: references corrected