fix(panic): Return errors insterad of panics from Connection

[oxarbitrage]

Motivation

Just positing for questions. Related to https://github.com/ZcashFoundation/zebra/issues/4734

[TBA]

Solution

[TBA]

Review

[TBA]

Reviewer Checklist

• [ ] Code implements Specs and Designs
• [ ] Tests for Expected Behaviour
• [ ] Tests for Errors

Follow Up Work