I found a system test failure in which `task.isClosed()` threw an NPE.

This change simply catches that condition and initiates a rebalance to try and 
recover.

An alternative approach would be to track down the root cause if we really 
don't expect the task to be missing.

### Committer Checklist (excluded from commit message)
- [ ] Verify design and implementation 
- [ ] Verify test coverage and CI build status
- [ ] Verify documentation (including upgrade notes)


[ Full content available at: https://github.com/apache/kafka/pull/5648 ]
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