This log typically means that there is something wrong with the replica or users manually delete the replica hence Longhorn will clean it up. This is a symptom rather than the cause of the replica failure.
After replica failure or when the volume becomes degraded, Longhorn will automatically try to reuse the old replica. If it does not work, Longhorn will launch and rebuild new replica instead. Ideally you don’t need to handled failed replica cleanup and the following rebuilding at all.