Fix consensus failure when remote signer drops

[EnderCrypto]

• [ ] Referenced an issue explaining the need for the change
• [ ] Updated all relevant documentation in docs
• [ ] Updated all code comments where relevant
• [ ] Wrote tests
• [ ] Updated CHANGELOG_PENDING.md

Commit cherry-pick d85e2e52d; resolve conflict: -.[privval] #4275 Fix consensus failure when remote signer drops (@melekes) PR: https://github.com/tendermint/tendermint/issues/4275 https://github.com/tendermint/tendermint/commit/d85e2e52d2571737a614f042cf747c07ab996126

Commit privval: if remote signer errors, don't retry

• .[privval] If remote signer errors, don't retry PR: https://github.com/tendermint/tendermint/issues/5112 https://github.com/tendermint/tendermint/commit/9da308fd2afe5c08d1e2c967afc40cf5a08b83e2

Commit cherry-pick 61ab6718e; resolve conflicts

• only retrieve pubkey once for all validators PR: https://github.com/tendermint/tendermint/pull/4895

Commit cherry-pick commit 5ba30e6f5; resolve conflict

• [consensus] Only call privValidator.GetPubKey once per block PR: https://github.com/tendermint/tendermint/pull/5143

[unclezoro]

The name of this PR is too simple, please add a short description

[rickyyangz]

please make the commit clean and readable