Session is being established

[twoeths]

As noted in https://github.com/ChainSafe/lodestar/issues/3423#issuecomment-966793785, if we send an authentication message to the other node but it does not response, the pending Session stays there and we always get Session is being established, request failed error for subsequent requests

With a session timeout of sessionTimeout: 86400 * 1000, it'd take 1 day for the next handshake in order to establish a session.

[dapplion]

Definitely the timeout for pending sessions should be way shorter