Detach Servo with controlled stop of waveform

[obrain17]

The current code from master detaches a servo within a running PWM duty cycle. This can lead to twitches and in worst case destroy the servo.

There are already comments and PRs for solving this issue. #7084 and #7023
This issue is opened to follow up with this PRs.

[Tech-TX]

This was corrected with #7022 and #7231. A quick test with 2 servos shows that it always stops at the last position before the servo.detach(), and never hits the stops. I attached, swept and detached the servos 40-50 times, no wild sweeps to the stops at detach.