[3.11] Refer to `TimeoutError` instead of `asyncio.TimeoutError` in `asyncio-task.rst` (GH-106136) (#106180)

Co-authored-by: lightdrk <108566237+lightdrk@users.noreply.github.com>
Co-authored-by: Hugo van Kemenade <hugovk@users.noreply.github.com>