Backport - Fix replica can't finish failover when config epoch is outdated (#2178) to 7.2

[ranshid]

When the primary changes the config epoch and then down immediately,
the replica may not update the config epoch in time. Although we will
broadcast the change in cluster (see #1813), there may be a race in
the network or in the code. In this case, the replica will never finish
the failover since other primaries will refuse to vote because the
replica's slot config epoch is old.

We need a way to allow the replica can finish the failover in this case.

When the primary refuses to vote because the replica's config epoch is
less than the dead primary's config epoch, it can send an UPDATE packet
to the replica to inform the replica about the dead primary. The UPDATE
message contains information about the dead primary's config epoch and
owned slots. The failover will time out, but later the replica can try
again with the updated config epoch and it can succeed.

Fixes #2169.

[enjoy-binbin]

The test fail because there are some other changes around the test suit, see #2210 top comment.
We decided to drop the test to avoid the major backport unless there are other changes rely on it.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 0.00%. Comparing base (5dc6632) to head (baeafc4).
Report is 1 commits behind head on 7.2.

Additional details and impacted files

@@     Coverage Diff     @@
##   7.2   #2232   +/-   ##
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