le_periodic_sync_manager: Fix sync error handling

Remove element from periodic_syncs_ while error.
Add unit test for this scenario.
Fix typo in unit tests.

Bug: 327274041
Bug: 316005152
Flag: leaudio_broadcast_feature_support
Test: manual testing with forcing sync status 62 by quickly on/off broadcaster(s)
Test: atest PeriodicSyncManagerTest#
handle_advertising_sync_established_after_error_test --host

Change-Id: I0d537ac1c1cbaa03dd83340274c0e8209e73797b