Revert "Drop connection when atttempting to disable encryption"

This reverts commit c5eee33a.

Reason for revert: Causing b/259631398. Connection will be terminated unexpectedly when connection is in the middle of role switching with the device that does not support EPR.

Test: Regression test
Change-Id: I063e31fd74a8b319439386ecde4ce1a633b6d7bf