chore(consensus): Finalize step improvements and fixes

[ancazamfir]

Closes: #XXX

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[ancazamfir]

Closing as we decided to keep the current behavior. We observed that, if an app uses timestamps vs local time to determine if a node is still syncing, aka catchup_threshold, and if catchup_threshold > 1.5 * block_time, the node will never catchup as it gets closer to the tip of the chain.