Support hard fork binary upgrade before the upgrade height

[edisonz0718]

Description and context

For hard fork upgrade, the current approach for story client and any cosmos based chain is to wait until the upgrade height and then the whole network starts the upgrade altogether.
The problem with this approach is that:

1. During the upgrade, especially the longer one, the whole network halts and users cannot use the network.
2. The node runners cannot test if the new binary works on their machine until the actual hard fork happens. This can cause even longer network halt when the new binary doesn't work for a majority stake node runner.

A better solution is to allow node runners to switch to a new binary before the upgrade height. making the new binary always backward-compatible. This is the approach used by Ethereum and Celestia.

Suggested solution

Investigate and leverage Celestia's CIP-10

Definition of done

Fully tested and functional solution for this problem