docs: fix the timeout behavior explanation #41783
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Description
We clarified the max_connection_duration behavior as part of this but this change was never done for the docs we have on "How do I configure timeouts?" here.
This PR is making the same changes to the main doc.
Commit Message: docs: fix the timeout behavior explanation
Additional Description: Fix the main timeout docs to align with the proto docs.
Risk Level: N/A
Testing: CI
Docs Changes: Added
Release Notes: N/A