pandad: refactor to consolidate threads, keep only one can_send thread #80909

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Job	Run time
build (x86_64)	2m 6s
build release	4m 50s
PR comments	2m 9s
Create UI Report	2m 2s
static analysis	3m 29s
cars (0)	16m 7s
unit tests	8m 26s
cars (1)	15m 28s
process replay	14m 51s
docker push multiarch tag	0s
	1h 9m 28s