race condition when controls allowed times out near an engagement

Basically, get panda's `controlsAllowed` to rise but make it a noEntry to openpilot. Then around 2 seconds later, engage.

For example in a button enable car: press set with seatbelt off, then put seatbelt back on and press set around 2 seconds later.

d4958b8ee5ef5cb3|2023-03-01--09-56-23--1