[20650] Create InitialConnection for TCP initial peers 2.13 & 2.10 & 2.6

[cferreiragonz]

Description

This PR uses the features introduced in https://github.com/eProsima/Fast-DDS/pull/4584 to ALWAYS create a connection channel for the TCP when initial peers are configured.

@Mergifyio backport 2.10.x 2.6.x

Contributor Checklist

• [X] Commit messages follow the project guidelines.
• [X] The code follows the style guidelines of this project.
• N/A Tests that thoroughly check the new feature have been added/Regression tests checking the bug and its fix have been added; the added tests pass locally
• N/A Any new/modified methods have been properly documented using Doxygen.
• N/A Any new configuration API has an equivalent XML API (with the corresponding XSD extension)
• [X] Changes are backport compatible: they do NOT break ABI nor change library core behavior.
• [X] Changes are API compatible.
• N/A New feature has been added to the versions.md file (if applicable).
• N/A New feature has been documented/Current behavior is correctly described in the documentation.
• [X] Applicable backports have been included in the description.

Reviewer Checklist

• [x] The PR has a milestone assigned.
• [x] The title and description correctly express the PR's purpose.
• [x] Check contributor checklist is correct.
• [x] Check CI results: changes do not issue any warning.
• [x] Check CI results: failing tests are unrelated with the changes.

[cferreiragonz]

@Mergifyio backport 2.10.x 2.6.x

[mergify[bot]]

backport 2.10.x 2.6.x

✅ Backports have been created

* [#5002 [20650] Create InitialConnection for TCP initial peers 2.13 & 2.10 & 2.6 (backport #4947)](https://github.com/eProsima/Fast-DDS/pull/5002) has been created for branch `2.10.x` * [#5003 [20650] Create InitialConnection for TCP initial peers 2.13 & 2.10 & 2.6 (backport #4947)](https://github.com/eProsima/Fast-DDS/pull/5003) has been created for branch `2.6.x` but encountered conflicts