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This change introduces joint quorums by changing the Node and RawNode API to accept pb.ConfChangeV2 (on top of pb.ConfChange). pb.ConfChange continues to work as today: it allows carrying out a single configuration change. A pb.ConfChange proposal gets added to the Raft log as such and is thus also observed by the app during Ready handling, and fed back to ApplyConfChange. ConfChangeV2 allows joint configuration changes but will continue to carry out configuration changes in "one phase" (i.e. without ever entering a joint config) when this is possible.