Release change while authentication fails (backport #5935)

[mergify]

Description

Address #5934

particiapant_stateless_message_writer_history should be properly freed when authentication fails.

@Mergifyio backport 3.3.x 3.2.x 2.14.x

Contributor Checklist

• Commit messages follow the project guidelines.

• The code follows the style guidelines of this project.

• Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally

• Any new/modified methods have been properly documented using Doxygen.

• Any new configuration API has an equivalent XML API (with the corresponding XSD extension)

• Changes are backport compatible: they do NOT break ABI nor change library core behavior.

• Changes are API compatible.

• N/A New feature has been added to the versions.md file (if applicable).

• N/A New feature has been documented/Current behavior is correctly described in the documentation.

• Applicable backports have been included in the description.

Reviewer Checklist

• The PR has a milestone assigned.
• The title and description correctly express the PR's purpose.
• Check contributor checklist is correct.
• If this is a critical bug fix, backports to the critical-only supported branches have been requested.
• Check CI results: changes do not issue any warning.
• Check CI results: failing tests are unrelated with the changes.

---

This is an automatic backport of pull request #5935 done by [Mergify](https://mergify.com).

[mergify]

🧪 CI Insights

Here's what we observed from your CI run for d47cd75.

❌ Job Failures

Pipeline	Job	Health on 2.14.x	Retries	🔍 CI Insights	📄 Logs
Fast DDS Sanitizers CI	sanitizers-ci / asan_fastdds_test		0	View	View
	sanitizers-ci / tsan_fastdds_test		0	View	View
Fast-DDS MacOS CI	mac-ci / reusable-mac-ci (RelWithDebInfo)		0	View	View
Fast-DDS Windows CI	windows-ci / reusable-windows-ci (RelWithDebInfo, v142)		0	View	View
	windows-ci / reusable-windows-ci (RelWithDebInfo, v143)		0	View	View