Initialize synchronization even if capture is disabled

[agreenb]

Previously, if:

1. Capture was toggled off when synchronization was toggled on
2. No components had capture configurations

we would return early before initializing the background syncer.

[tahiyasalam]

Overall LGTM

[github-actions]

Package	Line Rate	Health
go.viam.com/rdk/components/arm	59%	➖
go.viam.com/rdk/components/arm/universalrobots	12%	❌
go.viam.com/rdk/components/arm/xarm	2%	❌
go.viam.com/rdk/components/arm/yahboom	7%	❌
go.viam.com/rdk/components/audioinput	55%	➖
go.viam.com/rdk/components/base	68%	➖
go.viam.com/rdk/components/base/agilex	62%	➖
go.viam.com/rdk/components/base/boat	41%	❌
go.viam.com/rdk/components/base/wheeled	76%	✅
go.viam.com/rdk/components/board	69%	➖
go.viam.com/rdk/components/board/arduino	10%	❌
go.viam.com/rdk/components/board/commonsysfs	47%	❌
go.viam.com/rdk/components/board/fake	39%	❌
go.viam.com/rdk/components/board/numato	19%	❌
go.viam.com/rdk/components/board/pi	50%	➖
go.viam.com/rdk/components/camera	66%	➖
go.viam.com/rdk/components/camera/fake	67%	➖
go.viam.com/rdk/components/camera/ffmpeg	71%	✅
go.viam.com/rdk/components/camera/transformpipeline	75%	✅
go.viam.com/rdk/components/camera/videosource	57%	➖
go.viam.com/rdk/components/encoder/fake	77%	✅
go.viam.com/rdk/components/gantry	68%	➖
go.viam.com/rdk/components/gantry/multiaxis	84%	✅
go.viam.com/rdk/components/gantry/oneaxis	86%	✅
go.viam.com/rdk/components/generic	85%	✅
go.viam.com/rdk/components/gripper	82%	✅
go.viam.com/rdk/components/input	86%	✅
go.viam.com/rdk/components/input/gpio	87%	✅
go.viam.com/rdk/components/motor	82%	✅
go.viam.com/rdk/components/motor/dmc4000	69%	➖
go.viam.com/rdk/components/motor/fake	59%	➖
go.viam.com/rdk/components/motor/gpio	62%	➖
go.viam.com/rdk/components/motor/gpiostepper	53%	➖
go.viam.com/rdk/components/motor/tmcstepper	65%	➖
go.viam.com/rdk/components/movementsensor	67%	➖
go.viam.com/rdk/components/movementsensor/cameramono	39%	❌
go.viam.com/rdk/components/movementsensor/gpsnmea	37%	❌
go.viam.com/rdk/components/movementsensor/gpsrtk	28%	❌
go.viam.com/rdk/components/posetracker	88%	✅
go.viam.com/rdk/components/sensor	88%	✅
go.viam.com/rdk/components/sensor/ultrasonic	31%	❌
go.viam.com/rdk/components/servo	77%	✅
go.viam.com/rdk/config	77%	✅
go.viam.com/rdk/control	57%	➖
go.viam.com/rdk/data	78%	✅
go.viam.com/rdk/grpc	25%	❌
go.viam.com/rdk/ml	67%	➖
go.viam.com/rdk/ml/inference	70%	✅
go.viam.com/rdk/motionplan	71%	✅
go.viam.com/rdk/operation	93%	✅
go.viam.com/rdk/pointcloud	70%	✅
go.viam.com/rdk/protoutils	62%	➖
go.viam.com/rdk/referenceframe	78%	✅
go.viam.com/rdk/registry	88%	✅
go.viam.com/rdk/resource	85%	✅
go.viam.com/rdk/rimage	78%	✅
go.viam.com/rdk/rimage/depthadapter	94%	✅
go.viam.com/rdk/rimage/transform	73%	✅
go.viam.com/rdk/rimage/transform/cmd/extrinsic_calibration	67%	➖
go.viam.com/rdk/robot	93%	✅
go.viam.com/rdk/robot/client	79%	✅
go.viam.com/rdk/robot/framesystem	68%	➖
go.viam.com/rdk/robot/impl	80%	✅
go.viam.com/rdk/robot/server	59%	➖
go.viam.com/rdk/robot/web	61%	➖
go.viam.com/rdk/robot/web/stream	87%	✅
go.viam.com/rdk/services/armremotecontrol	75%	✅
go.viam.com/rdk/services/armremotecontrol/builtin	25%	❌
go.viam.com/rdk/services/baseremotecontrol	75%	✅
go.viam.com/rdk/services/baseremotecontrol/builtin	71%	✅
go.viam.com/rdk/services/datamanager	62%	➖
go.viam.com/rdk/services/datamanager/builtin	80%	✅
go.viam.com/rdk/services/datamanager/datacapture	34%	❌
go.viam.com/rdk/services/datamanager/datasync	73%	✅
go.viam.com/rdk/services/motion	68%	➖
go.viam.com/rdk/services/motion/builtin	89%	✅
go.viam.com/rdk/services/navigation	54%	➖
go.viam.com/rdk/services/sensors	78%	✅
go.viam.com/rdk/services/sensors/builtin	97%	✅
go.viam.com/rdk/services/shell	15%	❌
go.viam.com/rdk/services/slam	86%	✅
go.viam.com/rdk/services/slam/builtin	75%	✅
go.viam.com/rdk/services/vision	82%	✅
go.viam.com/rdk/services/vision/builtin	74%	✅
go.viam.com/rdk/spatialmath	85%	✅
go.viam.com/rdk/subtype	96%	✅
go.viam.com/rdk/utils	71%	✅
go.viam.com/rdk/vision	25%	❌
go.viam.com/rdk/vision/chess	80%	✅
go.viam.com/rdk/vision/delaunay	87%	✅
go.viam.com/rdk/vision/keypoints	92%	✅
go.viam.com/rdk/vision/objectdetection	83%	✅
go.viam.com/rdk/vision/odometry	60%	➖
go.viam.com/rdk/vision/odometry/cmd	0%	❌
go.viam.com/rdk/vision/segmentation	48%	❌
go.viam.com/rdk/web/server	26%	❌
Summary	66% (18900 / 28544)	➖