refactor: extract MCP client initialization logic into LifecycleInitializer (#370)

- Create new LifecycleInitializer class to handle protocol initialization phase
- Move initialization logic from McpAsyncClient to dedicated initializer
- Add javadocs for MCP initialization process
- Implement protocol version negotiation and capability exchange
- Add exception handling for transport session recovery
- Include  test suite for LifecyleInitializer
- Simplify McpAsyncClient by delegating initialization responsibilities

This refactoring improves separation of concerns and makes the initialization
process more maintainable and testable.

Signed-off-by: Christian Tzolov <christian.tzolov@broadcom.com>