This should be fixed in 24.08, its actually an issue with miniupnpd from what i understand, and they have fixed it. Its fixed in the latest dev version of pfsense because they updated the packages,
If you want states to time out like they should, then you will need to manually update the package on your pfsense box.
run the update pfense to get the latest repos, and then run
pkg upgrade miniupnpd
from shell. this will update miniupnpd to the latest version, and should fix the states never timing out problem.
I would also restart the miniupnpd service just to make sure you are using the updated package if you take this route.
If not, it should be fixed in the future release.