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KAFKA-17641: Update Vote RPC with PreVote field #17807

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https://issues.apache.org/jira/browse/KAFKA-17641
Introduces v2 of vote RPC and includes handling of PreVote requests. Includes KafkaRaftClientPreVoteTest

Committer Checklist (excluded from commit message)

  • Verify design and implementation
  • Verify test coverage and CI build status
  • Verify documentation (including upgrade notes)

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