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Backport https://github.com/etcd-io/etcd/pull/15095. When promoting a learner, we need to wait until the leader's applied ID catches up to the commitId. Afterwards, check whether the learner ID exist or not, and return `membership.ErrIDNotFound` directly in the API if the member ID not found, to avoid the request being unnecessarily delivered to raft. Signed-off-by: Benjamin Wang <wachao@vmware.com>