Refactor zeroconf setup to be async (#39955)

* Refactor zeroconf setup to be async

Most of the setup was calling back to async because
we were setting up listeners.  Since we only need
to jump into the executor to create the zeroconf
instance, its much faster to setup in async.

In testing this cut the setup time in half
or better.

* partial revert to after_deps

tests/components/default_config/test_init.py

@@ -6,13 +6,6 @@ from homeassistant.setup import async_setup_component
 from tests.async_mock import patch
 
 
-@pytest.fixture(autouse=True)
-def mock_zeroconf():
-    """Mock zeroconf."""
-    with patch("homeassistant.components.zeroconf.HaZeroconf"):
-        yield
-
-
 @pytest.fixture(autouse=True)
 def mock_ssdp():
     """Mock ssdp."""
@@ -34,6 +27,6 @@ def recorder_url_mock():
         yield
 
 
-async def test_setup(hass):
+async def test_setup(hass, mock_zeroconf):
     """Test setup."""
     assert await async_setup_component(hass, "default_config", {"foo": "bar"})