This is an alternate to #6122, built off of #6130. With #6130, it should be safe to always inv the tip regardless of what height our peer is at, because we’ll only inv blocks that we actually have.
As noted in the discussion of #6122, 0.10 and later peers would still not be able to download a reorg from a pruning peer; they would only be able to receive new blocks that build on their tip (0.9 and earlier peers using getblocks would be able to download reorgs from pruning nodes).
ping @cozz