Bluetooth: Classic: HFP_HF: Compatible old version AG

In current implementation, the AG with old version cannot be
supported properly.
Such as, if the AG is version 0.96, the AT command `AT+BRSF` should
not be sent.
And if the AG is no newer than version 1.5, the `Codec Negotiation`
should be unsupported.

Compatible old version with the following changes,

Discover the AG SDP record to get the profile version and AG
features. If the SDP discovery is failed, break the RFCOMM DLC
connection.

If the AG version is v0.96, do not send AT command `AT+BRSF`.

Create SCO connection directly if the codec negotiation feature is
unsupported on both side in the function `bt_hfp_hf_audio_connect()`.

Signed-off-by: Lyle Zhu <lyle.zhu@nxp.com>

Author: lylezhu2012

include/zephyr/bluetooth/classic/hfp_hf.h

@@ -747,9 +747,8 @@ int bt_hfp_hf_redial(struct bt_hfp_hf *hf);
 
 /** @brief Handsfree HF setup audio connection
  *
- *  Setup audio conenction by sending AT+BCC.
- *  If @kconfig{CONFIG_BT_HFP_HF_CODEC_NEG} is not enabled, the error
- *  `-ENOTSUP` will be returned if the function called.
+ *  Setup audio conenction by sending AT+BCC if the Codec Negotiation is supported by both side.
+ *  Or, initialize the SCO audio connection directly.
  *
  *  @param hf HFP HF object.
  *