Bluetooth: host: Handle initiator at RPA timeout

Handle initiator role when RPA timeout expires. For direct connect
establishment procedure we make sure the RPA is refreshed when starting
initiator and limit the timeout to the RPA timeout.
For auto establishment procedure we cancel the initiator and restart it
again in the connection complete event that is generated when canceling
an initiator.

Signed-off-by: Joakim Andersson <joakim.andersson@nordicsemi.no>