Since #33591, the epoch-based graph traversal optimization logic is only used for CTxMempool::GetChildren(), a function that is only used in RPC code and tests. Rewrite it without epochs, and remove util/epochguard.h itself, as that was its last use.
This allows us to reduce per-transaction memory usage by 8 bytes, for no material loss. With the new TxGraph-based mempool implementation, I also don’t foresee future uses for it, as TxGraph can do even better by using BitSet-based traversal tracking.