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khepri_machine: Migrate to the new Ra aux API
Ra 2.10.1 introduced a new `handle_aux/5` callback that takes the place of `handle_aux/6`. Instead of passing the log state and machine state separately, this API passes a new `ra_aux:internal_state()` opaque argument which you can read log or machine state out of with helper functions from the `ra_aux` module. This commit only updates to use the new callback: there should be no functional change from this commit.
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