chan_pjsip: Fix an assertion for channels that lack formats on creation

ASTERISK-24222 #close
Reported by: Mark Michelson
Review: https://reviewboard.asterisk.org/r/4017/
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Merged revisions 424333 from http://svn.asterisk.org/svn/asterisk/branches/13


git-svn-id: http://svn.asterisk.org/svn/asterisk/trunk@424358 f38db490-d61c-443f-a65b-d21fe96a405b