leaudio: Fix CIG not remove usecase

CIG could be not removed when
1. QoS Config failed or
2. in race condition during stream release when one device moves it ASES
   to IDLE/CONFIGURE before second gets its ASEs into  RELEASING state.

Bug: 321221128
Test: atest bluetooth_le_audio_test
Flag: Exempt, fixing remote invalid behaviour, regression covered with
unit tests. New unit test added

Change-Id: I293a66ddd42a6476468295735e72c206e42e8960