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migrator: Add `upgrade` command

Warren Gifford requested to merge ef/upgrade-wip into main

Created by: efritz

This PR adds an sg migration upgrade and migrator upgrade command that runs the multi-version upgrade process as described in RFC 697: Multiple version upgrades.

Fixes #38048 (closed) (with reduced scope). Complete fix blocked by #38094 (closed) but tracked in #39578 (closed). This PR was supported by #39457, #39458, #39459, #39473, #39474, #39540, #39541, #39542, #39543, #39545, #39546, and #39553.

Test plan

Tested by hand locally. Added additional unit tests.

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