This is a well known (long standing) issue. Documented in the code base in commit eea02be70ee37b845f2719b3c08e5baf4b6f51f6.

Countless intermittent sanitizer warnings can be attributed to it.
}
        else if (pnode->nPingNonceSent && pnode->nPingUsecStart + TIMEOUT_INTERVAL * 1000000 < GetTimeMicros())
        {
            LogPrintf("ping timeout: %fs\n", 0.000001 * (GetTimeMicros() - pnode->nPingUsecStart));
            pnode->fDisconnect = true;
        }
        else if (!pnode->fSuccessfullyConnected)
        {
            LogPrint(BCLog::NET, "version handshake timeout from %d\n", pnode->GetId());
            pnode->fDisconnect = true;
        }
    }
}
bool CConnman::GenerateSelectSet(std::set<SOCKET> &recv_set, std::set<SOCKET> &send_set, std::set<SOCKET> &error_set)
{
    for (const ListenSocket& hListenSocket : vhListenSocket) {
        recv_set.insert(hListenSocket.socket);
    }
    {
        LOCK(cs_vNodes);
        for (CNode* pnode : vNodes)
        {