Don't skip SDP discovery prior to AVDTP connection

This fixes an issue where the default AVDT_VERSION could be incorrectly
assigned to a remote device.

Bug: 74002223
Test: Manual: connect to Kinivo BTC450; power off/on the device to reconnect
Change-Id: I53817e942638d6e962aa5b8b87b7b31998270857
(cherry picked from commit 243661fe202b00b56a34dbdd2d80d9eff4951485)