Use quantifiers inference manager for lemma management (#5867)

Use quantifiers inference manager for lemma management (#5867)

Towards eliminating dependencies on quantifiers engine.

This replaces the custom implementation of lemma management in quantifiers engine with the standard one.

It makes a few minor changes to the standard inference manager classes to ensure the same behavior for quantifiers.

Note that some minor changes in behavior are introduced in this PR, such as being more consistent about caching/rewriting lemmas. This should not have any major impact.