fix(z3): clean SMT-LIB2 output — Z3 returns sat with model (zero sort errors)

- Sanitize sort names: Option(NodeId) → Option_NodeId
- Emit action transition predicates only for verify/BMC mode
- Handle -> implication operator in translateExpr
- Fleshed out KRaft invariant bodies (4/6 now have real expressions)
- ToggleSwitch: clean sat with model
- TigerBeetleLedger: sat with model
- KafkaKRaft: sat with model
- All 37 tests pass

compiler/test-output/RetryHandler.specbom.spdx.json

@@ -13,7 +13,7 @@
     "spdxVersion": "3.0.1",
     "dataLicense": "CC0-1.0",
     "creationInfo": {
-      "created": "2026-05-10T05:28:00.668Z",
+      "created": "2026-05-10T05:38:34.908Z",
       "createdBy": [
         "Organization: Speckl",
         "tool: speckl-compile-0.2.0"
@@ -27,7 +27,7 @@
           "@type": "spdx:Tool",
           "name": "speckl-compile"
         },
-        "timestamp": "2026-05-10T05:28:00.669Z",
+        "timestamp": "2026-05-10T05:38:34.909Z",
         "comment": "Review type: manual"
       }
     ]