[Firmware] Tracker should initiate udp broadcast in handshake

[TheButlah]

Initiate discovery from client-side in initial handshake state, instead of waiting for server sent heartbeat.

The esp wifi implementation is bugged where you cannot broadcast udp after receiving udp, so this also helps workaround this bug. It also just makes more sense.

[TheButlah]

@Noxime does esp-wifi have an issue filed for this? If not, can you open an issue and reference this issue?