Wireless closed-loop control is of major significance for future industrial manufacturing. However, control applications pose stringent quality of service requirements for reliable operation. Contrary to traditional ultra-reliable low-latency communications design goals such as low packet loss rates and low latency, research results in the domain of networked control systems (NCS) state that depending on the sampling period, control applications inherently tolerate a few consecutive packet losses. This translates into a better-suited metric to capture control application requirements and therefore a more conclusive design goal for wireless networks: ensuring a maximum age of information (AoI). With a Markov modeling approach, we propose to exploit the tolerance through a novel dynamic multi-connectivity scheme that we term state-aware resource allocation (SARA), which temporally negatively correlates packet losses, thus avoiding long packet loss sequences. Through statistical multiplexing, SARA enables a mean time to failure (MTTF) in the order of years while keeping the per-agent average channel usage close to one, also in a multi-agent setting with competition for resources. Compared with static dual-connectivity, the MTTF can be increased 100-fold whereas the number of required channels reduces by 40%. Our approach also statistically guarantees system-wide AoI distributions, which aid to ensure control performance.