selfdrived: don't block on carParams

### 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_