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I was able to get the libvirt configuration resynchronized by copying the <disk> XML from the xml dump into its own file, and then updated it back into the current configuration via

virsh attach-device 4 filestore.xml --config

After that, I reran nova volume-detach. It succeeded in cleaning up the compute node, the iscsi session is now idle. However, now the volume was stuck in "detaching" status. No errors anywhere, no idea why it didn't go back to "available." tgt-admin allowed me to take it offline and back to ready, then I got it back to available status with cinder reset-state.