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kvserver: deflake TestFollowerReadsWithStaleDescriptor
A preceeding change (cockroachdb#62696) introduced a flakey update to this test. Prior to that change, this test was using 2 voting replicas but that change tried to make it use 1 voter and 1 non-voter instead (as a litmus test for the new syntax added in cockroachdb#62696). The test rebalances a replica away from a node and ensures that a historical read sent immediately afterwards gets re-routed to the leaseholder replica, since the receiving store had its replica destroyed. However, when we're using a non-voter in this test, that non-voter may not have learned about this replication change by the time it receives this historical query and that fails the assertion. This commit re-organizes the test and fixes the flake. Release note: None
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