leaudio: Improve sending QoSConfigure when CIG is already created

There are some cases when ASEs are reconfigured from the QoS Configured
state but CIG does not have to be recreated.
Usually this is when one device connects while another is not yet in
STREAMING state.

This patch improves this handling in the way that

1. StartStream() tries to assigne proper configuration to ASEs when
   detects this.
2. StateMachine will continue with QoSConfigure for whole set, when CIG
   is already there.

Bug: 331775328
Test: atest bluetooth_le_audio_test
Flag: Exempt, regression tested with unit test new test added
Change-Id: I66c6316d7bd1579aef26607f32c77e154e25a205