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Epoch boundary reorg preparation #9843

Description

@twoeths

Problem description

in PrepareNextSlot, right now we dial the current head through epoch boundary
that could be a waste epoch transition because majority of the clients will do epoch boundary reorg from now on
in that case, we'll have to do epoch transition to verify the 1st gossip block of next epoch

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I notice that we do more and more epoch transitions with caller = "validateGossipBlock" recently

Solution description

predict an epoch boundary reorg ahead
use strong parent for epoch transition instead of the current weak head
add more logs + metrics
note that lodestar will also do epoch boundary reorg from now on #9769

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