pkg/rpcserver: fix race in local server shutdown

Currently we stop both executor binary and the RPC server concurrently
due to use of errgroup.WithContext. As the result, executor may SYZFAIL
on the closed network connection before it's killed.

This race leads to very high percent (25%) of failed repro attempts
for my local syz-manager runs. When we run syz-execprog with Repeat=false,
the race triggers frequently. May have something to do with heavily
instrumented kernel where some operations may take longer (e.g. killing
syz-executor and stopping all of its threads).

This should also fix #6091

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