Move ownership of term formula removal to theory preprocessor (#5670)

Move ownership of term formula removal to theory preprocessor (#5670)

This is work towards refactoring ITE removal (more generally, term formula removal) so that it happens at a configurable time, preferably post-CNF conversion.

This moves the TermFormulaRemover to the TheoryPreprocessor and changes several interfaces as a consequence of this move.

The next step will move the TheoryPreprocessor inside prop::TheoryProxy.

There are no behavior changes to solving in this PR. One aspect of CheckModels is simplified.