selfdrived: don't block on carParams

[jyoung8607]

Describe the bug

Seeing "openpilot unavailable" on rare occasions, just for a second or two at startup. It goes away on its own. It might be only on the first drive after power-on. The only apparent effect is cosmetic.

Per discussion with @sshane:

Looks like it just took 3s for the VW queries due to the 3 response pendings we got from the srs and fwdCamera. We can likely make selfdriveState not block on carParams and init everything when it's available

This also happens if we fail to match to a car (longer FP time), it should show the selfdriveInitializing noEntry instead of saying waiting for controls

Provide a route where the issue occurs

675fe9369fceb222/0000001e--7014071ab8

openpilot version

master

Additional info

No response