[v23.3.x] Transfer leadership before stepping down after reconfiguration

[vbotbuildovich]

Backport #19966 to branch v23.3.x. Note that this issue was created as a placeholder, since the original PR's commit(s) could not be automatically cherry-picked.
Here are the commands to execute:

git checkout v23.3.x
git checkout -b vbotbuildovich/backport-19966-v23.3.x-716
git cherry-pick -x 8f4db30afde5beed6c5ca8f2ac979c296972061c 9f7a5085d1d1161d7384acc76e2064f47f898a6a 9c581091ea38afcfa3461d2f1d1524b054ec8269

git push origin vbotbuildovich/backport-19966-v23.3.x-716
gh pr create \
  --title "[v23.3.x] Transfer leadership before stepping down after reconfiguration" \
  --base "v23.3.x" \
  --label "kind/backport" \
  --head "vbotbuildovich/backport-19966-v23.3.x-716" \
  --draft \
  --repo "redpanda-data/redpanda" \
  --milestone "v23.3.x-next" \
  --body "Backport of PR https://github.com/redpanda-data/redpanda/pull/19966 "

JIRA Link: [CORE-5033](https://redpandadata.atlassian.net/browse/CORE-5033)