chore: restore RC release version format

[cstockton]

In #2535 changed the format of the RC versions. This restores them to the previous format while retaining the security improvements to escaping.

Tested via:

export RELEASE_TITLE='chore(master): release 2.194.0'
node -e "
    const title = process.env.RELEASE_TITLE;
    console.log(title.split(' ').reverse().find(x => x.match(/[0-9]+[.][0-9]+[.][0-9]+/)));
"
MAIN_RELEASE_VERSION=$(node -e "
    const title = process.env.RELEASE_TITLE;
    console.log(title.split(' ').reverse().find(x => x.match(/[0-9]+[.][0-9]+[.][0-9]+/)));
")
GIT_DESC="$(git describe --tags --exclude 'rc*')"
GIT_DESC_WITHOUT_HASH="${GIT_DESC%-g*}"
COMMIT_COUNT="${GIT_DESC_WITHOUT_HASH##*-}"
RELEASE_VERSION="${MAIN_RELEASE_VERSION}-rc.${COMMIT_COUNT}"

echo $RELEASE_VERSION

Output:

2.194.0
2.194.0-rc.5