leaudio: Improve state machine reconfiguration

Clean group state if configure does not succeed.
It could happen when device got disconnected during the release process.

Bug: 222674521
Bug: 150670922
Test: atest --host bluetooth_le_audio_test bluetooth_le_audio_client_test
Change-Id: I7cbdc8b8ef9ba6aa5dcc6c8023fd75c001ceb3ca