release-23.1: sql,backupccl: add more tests for user ID migrations

[andyyang890]

Backport 3/3 commits from #99533.

/cc @cockroachdb/release

Release justification: Non-production code changes

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sql: add mixed version test for system.privileges user ID migration

This patch adds a mixed version logic test that ensures granting of
system privileges continues to work properly in a cluster that has
both 22.2 and 23.1 nodes. The relevant version gate being tested here
is V23_1SystemPrivilegesTableHasUserIDColumn.

Release note: None

---

sql: add mixed version test for system.database_role_settings user IDs

This patch adds a mixed version logic test that ensures setting default
session variables continues to work properly in a cluster that has
both 22.2 and 23.1 nodes. The relevant version gate being tested here
is V23_1DatabaseRoleSettingsHasRoleIDColumn.

Release note: None

---

backupccl: update TestRestoreOldVersions subtest for system.privileges

This patch updates the TestRestoreOldVersions subtest for the
system.privileges table to also test that a row for the public
role is correctly restored.

Release note: None

---

Part of #87079
Part of #92342

[blathers-crl]

Thanks for opening a backport.

Please check the backport criteria before merging:

• Patches should only be created for serious issues or test-only changes.
• Patches should not break backwards-compatibility.
• Patches should change as little code as possible.
• Patches should not change on-disk formats or node communication protocols.
• Patches should not add new functionality.
• Patches must not add, edit, or otherwise modify cluster versions; or add version gates.

If some of the basic criteria cannot be satisfied, ensure that the exceptional criteria are satisfied within.

• There is a high priority need for the functionality that cannot wait until the next release and is difficult to address in another way.
• The new functionality is additive-only and only runs for clusters which have specifically “opted in” to it (e.g. by a cluster setting).
• New code is protected by a conditional check that is trivial to verify and ensures that it only runs for opt-in clusters.
• The PM and TL on the team that owns the changed code have signed off that the change obeys the above rules.

Add a brief release justification to the body of your PR to justify this backport.

Some other things to consider:

• What did we do to ensure that a user that doesn’t know & care about this backport, has no idea that it happened?
• Will this work in a cluster of mixed patch versions? Did we test that?
• If a user upgrades a patch version, uses this feature, and then downgrades, what happens?

[cockroach-teamcity]

This change is