Revert "TCP deadlock on channel reuse (#4099)" (backport #4181)

[mergify]

This is an automatic backport of pull request #4181 done by Mergify.
Cherry-pick of 5e87eb3 has failed:

On branch mergify/bp/2.12.x/pr-4181
Your branch is up to date with 'origin/2.12.x'.

You are currently cherry-picking commit 5e87eb3ac.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   src/cpp/rtps/transport/TCPTransportInterface.cpp
	modified:   test/blackbox/common/BlackboxTestsTransportTCP.cpp
	modified:   test/blackbox/common/TCPReqRepHelloWorldReplier.cpp
	modified:   test/blackbox/common/TCPReqRepHelloWorldReplier.hpp

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   test/blackbox/common/BlackboxTestsTransportCustom.cpp
	deleted by us:   test/blackbox/xfail_tests.cmake

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/github/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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[cferreiragonz]

The changes of #4181 corresponding to builtin transports have been cherry-picked to #4171 and deleted from this PR

[EduPonz]

@richiprosima please test linux test mac test windows