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Fix Ice/timeout by making sure controller is connected #4569

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Run time

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Job	Run time
release on macos-15	36m 37s
release on ubuntu-24.04	56m 6s
release on windows-2022	1h 4m 26s
cpp-win32-release on windows-2022	50m 44s
debug on macos-15	35m 54s
debug on ubuntu-24.04	38m 26s
debug on windows-2022	43m 25s
matlab on ubuntu-24.04	32m 49s
matlab on windows-2022	22m 0s
cross on ubuntu-24.04	56m 14s
cross on macos-15	21m 15s
	7h 37m 56s