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Fix ICE when late-bound lifetimes don't appear in fn signature
PR #135479 changed how late-bound regions are registered for MIR
borrowck, switching from `for_each_late_bound_region_in_item` to
iterating over `bound_inputs_and_output.bound_vars()`. However, for
regular functions, the latter only includes late-bound lifetimes that
appear in the function's inputs or output, missing unused lifetime
parameters.
This caused an ICE when `replace_bound_regions_with_nll_infer_vars`
tried to look up these unregistered regions.
This ensures all late-bound regions are properly registered in the
universal regions map before they're needed during region substitution.
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