I remember reading a review of this book around 2000, though I do not know when it was actually written. I believe that the soldier was killed during an investigation of some sort. His clone is sent as a replacement to find out what transpired.
It could be Duncan Idaho in the Dune series (Dune Messiah and/or God Emperor of Dune). Frankly I can't recall the specifics, but I seem to recall that in at least one of them, the new Idaho clones had to undergo a certain trauma or imprinting in order to regain their past-life memories.
This played a role in several of the books including Heretics of Dune and Chapterhouse: Dune. IIRC, there was also a ghola of a commander Teg.
The clones were called "gholas."
It reminds me of #2 in Mike Resnick's The Widowmaker series - Widowmaker Reborn:
also Walter Jon Williams' "Voice of the Whirlwind" might fit even better