runtime: delay exiting while panic is running deferred functions

runtime: delay exiting while panic is running deferred functions

Try to avoid a race between the main goroutine exiting and a panic
occurring. Don't try too hard, to avoid hanging.

Updates #3934
Fixes #20018

Change-Id: I57a02b6d795d2a61f1cadd137ce097145280ece7
Reviewed-on: https://go-review.googlesource.com/41052
Reviewed-by: Austin Clements <austin@google.com>