[v23.3.x] rm_stm: fix fence_pid_epoch cleanup

[vbotbuildovich]

Backport #17880 to branch v23.3.x. Note that this issue was created as a placeholder, since the original PR's commit(s) could not be automatically cherry-picked.
Here are the commands to execute:

git checkout v23.3.x
git checkout -b vbotbuildovich/backport-17880-v23.3.x-168
git cherry-pick -x 7229e5fd621b44ff453be84b9af3a3a2469c035b 996e138f0801ae2846fa77be57c75439f9653416 4a9420872a973d2893b280388c8766d93eded8b4

git push origin vbotbuildovich/backport-17880-v23.3.x-168
gh pr create \
  --title "[v23.3.x] rm_stm: fix fence_pid_epoch cleanup" \
  --base "v23.3.x" \
  --label "kind/backport" \
  --head "vbotbuildovich/backport-17880-v23.3.x-168" \
  --draft \
  --repo "redpanda-data/redpanda" \
  --milestone "v23.3.x-next" \
  --body "Backport of PR https://github.com/redpanda-data/redpanda/pull/17880 "

JIRA Link: [CORE-2390](https://redpandadata.atlassian.net/browse/CORE-2390)

[CORE-2390]: https://redpandadata.atlassian.net/browse/CORE-2390?atlOrigin=eyJpIjoiNWRkNTljNzYxNjVmNDY3MDlhMDU5Y2ZhYzA5YTRkZjUiLCJwIjoiZ2l0aHViLWNvbS1KU1cifQ

[piyushredpanda]

Merged