wgengine/magicsock: fix deadlock on shutdown

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This fixes a deadlock on shutdown.
One goroutine is waiting to send on c.derpRecvCh before unlocking c.mu.
The other goroutine is waiting to lock c.mu before receiving from c.derpRecvCh.

#3736 has a more detailed explanation of the sequence of events.

Fixes #3736

Signed-off-by: Josh Bleecher Snyder <josh@tailscale.com>

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