If one of the helper goroutine panics, the main goroutine call to Wait
may hang forever waiting for something to call Done. Put that call in
a goroutine like the others.

Fixes #35774

Change-Id: I8d2b58d8f473644a49a95338f70111d4e6ed4e12
Reviewed-on: https://go-review.googlesource.com/c/go/+/210218
Run-TryBot: Ian Lance Taylor <iant@golang.org>
TryBot-Result: Gobot Gobot <gobot@golang.org>
Reviewed-by: Bryan C. Mills <bcmills@google.com>