Quadrilaterals and midpoints

Geometry Level 2

Given a quadrilateral \(ABCD\), possibly concave, with perpendicular diagonals. The midpoints of \(AB\),\(BC\),\(CD\) and \(DA\) are \(P,Q,R\) and \(S\) respectively. Is it always true that \(PQRS \) forms a rectangle, possibly degenerate?

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