### Apache Airflow version

2.6.1

### What happened

I have a short circuit task which is in a task group that is expanded. The task work correctly when it returns true but the task fails when it returns false with the following error:
```
sqlalchemy.exc.IntegrityError: (psycopg2.errors.ForeignKeyViolation) insert or update on table "xcom" violates foreign key constraint "xcom_task_instance_fkey"
DETAIL:  Key (dag_id, task_id, run_id, map_index)=(pipeline_output_to_s3, transfer_output_file.already_in_manifest_short_circuit, manual__2023-05-24T20:21:35.420606+00:00, -1) is not present in table "task_instance".
```

It looks like it sets the map-index to -1 when false is returned which is causing the issue. 
If one task fails this way in the the task group, all other mapped tasks fail as well, even if the short circuit returns true.
When this error occurs, all subsequent DAG runs will be stuck indefinitely in the running state unless the DAG is deleted.

### What you think should happen instead

Returning false from the short circuit operator should skip downstream tasks without affecting other task groups / map indexes or subsequent DAG runs. 

### How to reproduce

include a short circuit operator in a mapped task group and have it return false.

### Operating System

Red Hat Enterprise Linux 7

### Versions of Apache Airflow Providers

_No response_

### Deployment

Official Apache Airflow Helm Chart

### Deployment details

_No response_

### Anything else

_No response_

### Are you willing to submit PR?

- [ ] Yes I am willing to submit a PR!

### Code of Conduct

- [X] I agree to follow this project's [Code of Conduct](https://github.com/apache/airflow/blob/main/CODE_OF_CONDUCT.md)

After a downstream task is skipped by BranchPythonOperator, clearing the skipped task
        should not cause it to be executed.
        """
        with self.dag:
            branch_op = BranchPythonOperator(task_id=self.task_id, python_callable=lambda: "branch_1")
            branches = [self.branch_1, self.branch_2]
            branch_op >> branches
        dr = self.create_dag_run()
        branch_op.run(start_date=self.default_date, end_date=self.default_date)
        for task in branches:
            task.run(start_date=self.default_date, end_date=self.default_date)
        expected_states = {
            self.task_id: State.SUCCESS,
            "branch_1": State.SUCCESS,
            "branch_2": State.SKIPPED,
        }
        self.assert_expected_task_states(dr, expected_states)
        
        tis = dr.get_task_instances()
        children_tis = [ti for ti in tis if ti.task_id in branch_op.get_direct_relative_ids()]
        with create_session() as session:
            clear_task_instances(children_tis, session=session, dag=branch_op.dag)
        
        for task in branches:
            task.run(start_date=self.default_date, end_date=self.default_date)
        
        self.assert_expected_task_states(dr, expected_states)
    def test_raise_exception_on_no_accepted_type_return(self):
        ti = self.create_ti(lambda: 5)
        with pytest.raises(AirflowException, match="must be either None, a task ID, or an Iterable of IDs"):