Reduce onroad initializing time + add CI test

[adeebshihadeh]

controlsd waits until all services are up and valid for up to 3.5s, but it's not uncommon for that timeout to be hit. Everything should fit comfortably in that 3.5s.

https://github.com/commaai/openpilot/blob/1bc6f2fa7db49ebd3d29063e2a93234488b88db0/selfdrive/controls/controlsd.py#L401