tcp: Disallow re-connection of a connected socket

soconnectat() tries to ensure that one cannot connect a connected
socket. However, the check is racy and does not really prevent two
threads from attempting to connect the same TCP socket.

Modify tcp_connect() and tcp6_connect() to perform the check again, this
time synchronized by the inpcb lock, under which we call
soisconnecting().

Reported by: syzkaller
Reviewed by: glebius
MFC after: 2 weeks
Sponsored by: Klara, Inc.
Sponsored by: Modirum MDPay
Differential Revision: https://reviews.freebsd.org/D38507