consensus/bor: revert "handle unauthorized signer in consensus.Prepare"

[Raneet10]

Description

This PR reverts changes made in #651 which made the node bail out early when it realised it's not part of the validator set in consensus.Prepare. As a result of this, the pending blocks were not getting updated since the flow broke off before the worker.commit phase .

Changes

• Bugfix (non-breaking change that solves an issue)
• Hotfix (change that solves an urgent issue, and requires immediate attention)
• New feature (non-breaking change that adds functionality)
• Breaking change (change that is not backwards-compatible and/or changes current functionality)
• Changes only for a subset of nodes

Checklist

• I have added at least 2 reviewer or the whole pos-v1 team
• I have added sufficient documentation in code
• I will be resolving comments - if any - by pushing each fix in a separate commit and linking the commit hash in the comment reply

Testing

• I have added unit tests
• I have added tests to CI
• I have tested this code manually on local environment
• I have tested this code manually on remote devnet using express-cli
• I have tested this code manually on mumbai
• I have created new e2e tests into express-cli

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.02 ⚠️

Comparison is base (aaf5fe3) 56.67% compared to head (7bd393f) 56.66%.

Additional details and impacted files

@@             Coverage Diff             @@
##           develop     #797      +/-   ##
===========================================
- Coverage    56.67%   56.66%   -0.02%     
===========================================
  Files          610      610              
  Lines        71904    71902       -2     
===========================================
- Hits         40754    40745       -9     
- Misses       27659    27668       +9     
+ Partials      3491     3489       -2     

Impacted Files	Coverage Δ
consensus/bor/bor.go	7.53% <ø> (+0.02%)	⬆️

... and 21 files with indirect coverage changes

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