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Add upgrade handler and e2e upgrade test for ics29 capital efficient escrows

Validation of SlashAcks fails due to marshaling to Bech32

imp(fee): capital efficient fee middleware (backport #5571)

e2e tests with gaia fail

feat(ica): allow unordered ica channels

config: Remove unused `max_batch_bytes` (backport #2050)

misc(go.mod): remove unused peg dependency (backport #2044)

misc(go.mod): remove unused peg dependency (backport #2044)

Fix grant contract cli command description

fix ICA host chan open try test

docs: add extra information about ICA channel reopening

chore(ica/host): require active channel be CLOSED before re-opening

ICA host: check active channel is `CLOSED` when reopening an ICA channel

re-enable logic sending transfer in ICA upgrade ordered -> unordered e2e

chore: remove `upgrade` prefix from upgrade event attributes (backport #5603)

deprecated: deprecate ErrPacketTimeout error

docs: ICA register CLI

build(deps): Bump github.com/cosmos/cosmos-sdk from 0.50.2 to 0.50.3 in /e2e

build(deps): Bump github.com/cosmos/cosmos-sdk from 0.50.2 to 0.50.3 in /modules/apps/callbacks

chore: rename `proofXyz` -> `xyzProof` (backport #5599)

Bump cosmos-sdk to 0.50.3 in modules

build(deps): Bump github.com/cosmos/cosmos-sdk from 0.50.2 to 0.50.3 in /modules/light-clients/08-wasm

build(deps): Bump github.com/cosmos/cosmos-sdk from 0.50.2 to 0.50.3 in /modules/capability

docs: added a new themed overview image

remaining review comments from #1613 (backport #5539)

e2e: ordered ica channel is upgraded to unordered

Add documentation for capital efficient fee middleware

imp: separate height and timestamp attribute in upgrade timeout event (backport #5612)

feat(rpc): Use default port for HTTP(S) URLs when there is no explicit port (backport #1903)

feat(rpc): Use default port for HTTP(S) URLs when there is no explicit port (backport #1903)