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We report precision measurements of hypernuclei 3ΛH and 4ΛH lifetimes obtained from Au+Au collisions at \snn = 3.0\,GeV and 7.2\,GeV collected by the STAR experiment at RHIC, and the first measurement of 3ΛH and 4ΛH mid-rapidity yields in Au+Au collisions at \snn = 3.0\,GeV. The lifetimes are measured to be 221±15(stat.)±19(syst.)\,ps for 3ΛH and 218±6(stat.)±13(syst.)\,ps for 4ΛH. The pT-integrated yields of 3ΛH and 4ΛH are presented in different centrality and rapidity intervals. It is observed that the shape of the rapidity distribution of 4ΛH is different for 0--10\% and 10--50\% centrality collisions. Thermal model calculations, using the canonical ensemble for strangeness, describes the 3ΛH yield well, while underestimating the 4ΛH yield. Transport models, combining baryonic mean-field and coalescence (JAM) or utilizing dynamical cluster formation via baryonic interactions (PHQMD) for light nuclei and hypernuclei production, approximately describe the measured 3ΛH and 4ΛH yields.