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Replace heap-based vanguard expiry with simpler approach

The following discussion from !2075 (merged) should be addressed:

  • @nickm started a discussion: (+5 comments)

    What happens here if the same relay is both an L2 and an L3 vanguard? It seems like it could expire as one but not as the other.

    Also, it might be clearer if this were called vanguard_heap or something? As it stands I find myself sometimes confusing this field with the field called vanguards in VanguardSet.