test: Remove workarounds in authproxy

Summary:
The WinError 10053 can be solved with a larger dynamic port range, if we ever run CI tests on Windows: see core#23089

The python 3.5 workaround is no longer needed since we support python >=3.9.

The other windows workaround is probably no longer necessary after bumping the server timeout for all tests (util.py:write_config change)

Also, move the burden of checking for a timeout to the client and
disable the timeout on the server. This should avoid intermittent issues
in slow tests (for example mining_getblocktemplate_longpoll.py, or
feature_dbcrash.py), or possibly when the server is running slow (for
example in valgrind). There shouldn't be any downside in tests caused
by a high rpcservertimeout.

This is a backport of core#23092, core#27378 and core#27418

Test Plan: ninja check-functional-extended

Reviewers: #bitcoin_abc, Fabien

Reviewed By: #bitcoin_abc, Fabien

Subscribers: Fabien

Differential Revision: https://reviews.bitcoinabc.org/D17301