vc: Improve handling connection timeout

Since VC is using opportunistic connect, make sure to start if over when
gatt sends OPEN event with a status error, which is usually a case when
direct connect did not succeed.

Bug: 331775328
Flag: Exempt, regression tested with unit test, new test added
Test: atest bluetooth_vc_test

Change-Id: I0f4d76684dca50ce8ccbb44754a0f0dcec08780b