Backport of core: prevent malformed plans from crashing leader into release/1.2.x #12613
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Backport
This PR is auto-generated from #11944 to be assessed for backporting due to the inclusion of the label backport/1.2.x.
The below text is copied from the body of the original PR.
The Plan.Submit endpoint assumed PlanRequest.Plan was never nil. While
there is no evidence it ever has been nil, we should not panic if a nil
plan is ever submitted because that would crash the leader.