fix: improve MCP server initialization error handling #3196 #2346 #2555

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Summary

• Catch and log task panics during server initialization instead of propagating JoinError
• Handle tool listing failures gracefully, allowing partial server initialization
• Improve error resilience on macOS where init timeouts are more common

Test plan

• [x] Test MCP server initialization with timeout scenarios
• [x] Verify graceful handling of tool listing failures
• [x] Confirm improved error messages and logging
• [x] Test on macOS

Fix issue #3196 #2346 #2555

fix before:

fix improved:

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