MINOR: Improved ConsumerRebalanceListenerInvoker for code reusage

[Serwios]

There was a lot of code duplication so I tried to make it simpler and more reusable, also added docs, tests. Logic is the same

Committer Checklist (excluded from commit message)

• Verify design and implementation
• Verify test coverage and CI build status
• Verify documentation (including upgrade notes)

[Serwios]

Request for review @AndrewJSchofield @mumrah

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[github-actions]

A label of 'needs-attention' was automatically added to this PR in order to raise the
attention of the committers. Once this issue has been triaged, the triage label
should be removed to prevent this automation from happening again.