Handle HCI setup ESCO connection failures

The error handling was removed by mistake.

Bug: 215717270
Tag: #refactor
Test: atest CtsBluetoothTestCases net_test_stack_btu
Ignore-AOSP-First: cherry-pick from aosp-master to tm-dev branch
Merged-In: Ie34eca023e419fbc6181d146cb0fa3b052bb0bfb
Change-Id: Ie34eca023e419fbc6181d146cb0fa3b052bb0bfb