Alternative solution: wait for the handles of the task and the manual reset event
I was having memory leaks when using Task.WaitAny() with a Task (returned by SqlConnection.OpenAsync()') and a Manual Reset Event received as parameter and wrapped in a Task with AsTask(). These object were not being disposed: TaskCompletionSource<Object>, Task<Object>, StandardTaskContinuation, RegisteredWaitHandle, RegisteredWaithandleSafe, ContinuationResultTaskFromresultTask<Object,bool>, _ThreadPoolWaitOrTimerCallback).
This is real production code, used in a Windows service, of a function that tries to open a connection to a db in a loop until the connection is opened, or the operation fails, or the ManualResetEvent _finishRequest, received as parameter in the function containing this code, is signaled by code in any other thread.
To avoid the leak, I decided to do it the other way round: wait for the handles of the _finishRequest and the Task returned by OpenAsync():
Task asyncOpening = sqlConnection.OpenAsync();
// Wait for the async open to finish, or until _finishRequest is signaled
var waitHandles = new WaitHandle[]
{
  // index 0 in array: extract the AsyncWaitHandle from the Task
  ((IAsyncResult)asyncOpening).AsyncWaitHandle,
  // index 1:
  _finishRequest
};
// Check if finish was requested (index of signaled handle in the array = 1)
int whichFinished = WaitHandle.WaitAny(waitHandles);
finishRequested = whichFinished == 1;
// If so, break the loop to exit immediately
if (finishRequested)
  break;
                    
// If not, check if OpenAsync finished with error (it's a Task)
if (asyncOpening.IsFaulted)
{
  // Extract the exception from the task, and throw it
  // NOTE: adapt it to your case. In mine, I'm interested in the inner exception,
  // but you can check the exception itself, for example to see if it was a timeout,
  // if you specified it in the call to the async function that returns the Task
  var ex = asyncOpening?.Exception?.InnerExceptions?[0];
  if (ex != null) throw ex; 
}
else
{
  Log.Verbose("Connection to database {Database} on server {Server}", database, server);
  break;
}
If you also need the timeout, you can include it in the call to OpenAsync, or you asyn function, and then check if the result of the async operation was cancelled because of the timeout: check the status of the Task when finished, as you can see in the NOTE in the code comment.