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roachpb/storage: complete removal of BeginTransactionRequest
This commit completes the migration started in cockroachdb#32971 (a year ago to the week). It removes all references to `BeginTransactionRequest` and deletes the request type entirely. This reduces the number of request types that can create transaction records down to just two: `EndTransactionRequest` and `HeartbeatTxnRequest` (see the state transition diagram in `replica_tscache.go`). It is safe to remove server-side handling of `BeginTransactionRequest` because we never use it in v19.2 binaries, so v20.1 binaries will never run in a cluster that is using the request type. Once this commit is merged, I'm going to `s/EndTransaction/EndTxn/g` to bring that request name in line with all other transaction metadata requests (e.g. `HeartbeatTxnRequest`, `PushTxnRequest`, `QueryTxnRequest`, and `RecoverTxnRequest`). Release note: None
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