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We give a detailed account of the cyclic $L_\infty$-algebra formulation of general relativity with cosmological constant in the Einstein-Cartan-Palatini formalism on spacetimes of arbitrary dimension and signature, which encompasses all symmetries, field equations and Noether identities of gravity without matter fields. We present a local formulation as well as a global covariant framework, and an explicit isomorphism between the two $L_\infty$-algebras in the case of parallelizable spacetimes. By duality, we show that our $L_\infty$-algebras describe the complete BV-BRST formulation of Einstein-Cartan-Palatini gravity. We give a general description of how to extend on-shell redundant symmetries in topological gauge theories to off-shell correspondences between symmetries in terms of quasi-isomorphisms of $L_\infty$-algebras. We use this to extend the on-shell equivalence between gravity and Chern-Simons theory in three dimensions to an explicit $L_\infty$-quasi-isomorphism between differential graded Lie algebras which applies off-shell and for degenerate dynamical metrics. In contrast, we show that there is no morphism between the $L_\infty$-algebra underlying gravity and the differential graded Lie algebra governing $BF$ theory in four dimensions.