Add `command_timeout` to async client

[Yard1]

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Description of change

Currently, socket_timeout is used as both the socket timeout and an asyncio-level timeout. However, if networking is unreliable, it may be preferable to set a shorter socket_timeout than the asyncio timeout - this would allow for the command to fail fast if socket is not receiving any data, but keep the command running if the connection is simply slow, or the amount of data is large.