Safe asyncio timeout for python 3.11 and above

[fjetter]

Python 3.11 introduced the asyncio.timeout which resolves a couple of consistency issues with asyncio.wait_for, see

#6235
Closes #6211 (for python 3.11)

We should offer a utils.wait_for function that uses asyncio.timeout if available to avoid these problematic cases. All occurrences of asyncio.wait_for in our code base should then be replaced by this.

cc @graingert

[mrocklin]

I'll be curious to see if CI cleans up significantly in 3.11

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