Some remarks on the definition of tangent cones in a Carnot-Carathéodory space

By Gregory Margulis, G. Mostow. 2000

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Uniform Estimation of Sub-Riemannian Balls (2001, background): “This uniformity is also responsible for the group structure of the tangent cone at regular points (Belläıche [4], Margulis and Mostow [15]).”
A Comprehensive Introduction to Sub-Riemannian Geometry (2019, methodology): “A definition of “tangent cone” for sub-Riemannian manifolds is also given in [MM95], and then refined in [MM00], to let the tangent cone at a point to be unique, up to isomorphism.”
Geometry of Carnot-Caratheodory Spaces, Differentiability, Coarea and Area Formulas (2009, methodology): “In [4, 16, 67, 106] above statement is proved by other methods under additional assumptions on the smoothness of the basis vector fields.”