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Under the strong support of the poverty alleviation policy in a village in the western region, 2000 mu of land is used to develop the planting of traditional Chinese medicine A. The average yield of traditional Chinese medicine A per mu (unit: kg/mu) mainly depends on the average temperature (unit: °C) at the end of July to early August in the local area. The table below shows the average temperature in the local area from the end of July to early August over the past 20 years in the county where the village is located.

| Average Temperature | $[20,23)$ | $[23,26)$ | $[26,29)$ | $[29,32)$ | $[32,35)$ |
|---------------------|-----------|-----------|-----------|-----------|-----------|
| Number of Years     | 2         | 4         | 6         | 6         | 2         |

Under the influence of the average temperature from the end of July to early August, the average yield per mu of traditional Chinese medicine A is as shown in the table below.

| Average Temperature | $[20,23)$ | $[23,26)$ | $[26,29)$ | $[29,32)$ | $[32,35)$ |
|---------------------|-----------|-----------|-----------|-----------|-----------|
| Average Yield of Traditional Chinese Medicine A (kg/mu) | 17 | 17 | 23 | 32 | 32 |

Taking the frequency of the average yield in the table above as the probability, if the average yield of traditional Chinese medicine A is not less than 30 kg/mu, it is called "high yield." It is planned to plant traditional Chinese medicine A for 3 years. Let X be the number of years in which traditional Chinese medicine A achieves "high yield."

$(1)$ Find the distribution table of X;  
$(2)$ Find the mathematical expectation and variance of X.

Present the answer in LaTex format: \boxed{Your answer}
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