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roachtest: improve testing of mixed-version clusters #15851

@andreimatei

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@andreimatei

As it became apparent in #15819, we don't have tests for the upgrade of a cluster from one version to another. I believe we have a "mixed version" acceptance test, but I think all it does is it writes data using an old version and reads it with a new one.

We should have a test checking the interoperability of versions in a running cluster. We should test that as many operations as possible work when the operation involves nodes on different versions. Examples of things to test: DistSQL reads, replication, lease transfers.

In the specific case of #15819, what would have helped is one with a (lease-related?) Raft command being proposed by the new version and applied by the old one.

Jira issue: CRDB-6080

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    A-testingTesting tools and infrastructureC-enhancementSolution expected to add code/behavior + preserve backward-compat (pg compat issues are exception)

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