Allow PRIORITY_UNDEFINED when remote device is BONDING or BONDED

* When priority is undefined, it is likely that SDP has not completed
  and peer is initiating the connection. Allow this connection for HFP,
  A2DP, and HearingAid if the device is bonded or bonding.
* Added unit tests for various okToConnect methods

Bug: 78336562
Test: A2dpServiceTest, HeadsetServiceTest, HearingAidServiceTest
      let Benz NTG5 Star2 Car kit connect to DUT

Change-Id: I3e35fab38b485efa89b33c65a3980072a17b7272
(cherry picked from commit b65a4c16)