FIx outstanding know header==nil errors + reduce bor heimdall logging #8878
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This PR has fixes for a number of instances in the bor heimdall stage where nil headers are either ignored or inadvertently processed.
It also has a demotion of milestone related logging messages to debug for missing blocks because the process is not at the head of the chain + a general reduction in periodic logging to 30 secs rather than 20 to reduce the log output on long runs.
In addition there is a refactor of persistValidatorSets to perform validator set initiation in a seperate function. This is intended to clarify the operation of persistValidatorSets - which is till performing 2 actions, persisting the snapshot and then using it to check the header against synthesized validator set in the snapshot.