[Backport release-1.17] fix: apply DAPR_API_TIMEOUT_SECONDS to workflow gRPC connections

[dapr-bot]

Backport of #954 to release-1.17.

Backporting failed due to merge conflicts. Please resolve manually:

git fetch origin
git checkout backport-954-to-release-1.17

# Reset to base, discarding the empty placeholder commit
git reset --hard origin/release-1.17

# Cherry-pick the merged commit
git cherry-pick -x -m 1 77505930682f0f1c347d5e1364849c6b161f5e9d

# Resolve the conflicts, then:
git add .
git cherry-pick --continue

# Force-push to replace the placeholder commit
git push --force-with-lease origin backport-954-to-release-1.17