[step:Prove inner regularity when $\mu(A) < \infty$: use outer regularity of the complement and a compact exhaustion]
Assume $\mu(A) < \infty$. Fix $\varepsilon > 0$. We construct a compact set $K \subset A$ with $\mu(A) - \mu(K) < \varepsilon$.
Choose $m \in \mathbb{N}$ large enough so that $\mu(A \setminus \overline{B}(0, m)) < \varepsilon/2$. Such $m$ exists because $A = \bigcup_{m=1}^\infty (A \cap \overline{B}(0, m))$ is an increasing union and $\mu(A) < \infty$, so by continuity of measure from below, $\mu(A \cap \overline{B}(0, m)) \nearrow \mu(A)$.
Now $A \cap \overline{B}(0, m)$ is a Borel set of finite measure. By outer regularity (proved above), there exists an open set $U \supset (\overline{B}(0, m) \setminus A)$ with
\begin{align*}
\mu(U) < \mu(\overline{B}(0, m) \setminus A) + \frac{\varepsilon}{2}.
\end{align*}
Define $K = \overline{B}(0, m) \setminus U$. Then $K$ is closed (as the complement of an open set intersected with a closed set) and bounded (contained in $\overline{B}(0, m)$), hence compact. Moreover, $K \subset A$: if $x \in K$, then $x \in \overline{B}(0, m)$ and $x \notin U$, and since $\overline{B}(0, m) \setminus A \subset U$, we have $x \in A$.
We estimate the measure defect:
\begin{align*}
\mu(A) - \mu(K) &= \mu(A \setminus K) \\
&= \mu(A \setminus \overline{B}(0, m)) + \mu((A \cap \overline{B}(0, m)) \setminus K) \\
&< \frac{\varepsilon}{2} + \mu((A \cap \overline{B}(0, m)) \cap U).
\end{align*}
Since $A \cap \overline{B}(0, m) \cap U \subset U$ and $\overline{B}(0, m) \setminus A \subset U$, we have
\begin{align*}
\mu(U) \geq \mu(\overline{B}(0, m) \setminus A),
\end{align*}
and the portion of $U$ that intersects $A \cap \overline{B}(0, m)$ satisfies
\begin{align*}
\mu(U \cap A \cap \overline{B}(0, m)) = \mu(U \cap \overline{B}(0, m)) - \mu(\overline{B}(0, m) \setminus A) \leq \mu(U) - \mu(\overline{B}(0, m) \setminus A) < \frac{\varepsilon}{2}.
\end{align*}
Therefore $\mu(A) - \mu(K) < \varepsilon/2 + \varepsilon/2 = \varepsilon$, which gives $\mu(K) > \mu(A) - \varepsilon$. Since $\varepsilon > 0$ was arbitrary, $\sup\{\mu(K) : K \subset A, \; K \text{ compact}\} = \mu(A)$.
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