http, http2: remove default server timeout

Timing out and closing the socket after two minutes have elapsed is
surprising and problematic for users. This behavior was specific to
Node.js, and doesn't seem to be common in other language runtimes.

Fixes: https://github.com/nodejs/node/issues/27556

PR-URL: https://github.com/nodejs/node/pull/27558


Reviewed-By: Matteo Collina <matteo.collina@gmail.com>
Reviewed-By: Anna Henningsen <anna@addaleax.net>
Reviewed-By: Rich Trott <rtrott@gmail.com>