BEEFY: Support compatibility with Warp Sync - Allow Warp Sync for Validators (#2689)
Resolves https://github.com/paritytech/polkadot-sdk/issues/2627
Initializes voter _after_ headers sync finishes in the background.
This enables the BEEFY gadget to work with `--sync warp` (GRANDPA warp
sync).
Co-authored-by: Adrian Catangiu <[email protected]>
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