Add basic `esp32p4` support #3025

Job	Run time
Build HIL Tests \| esp32c2	1m 24s
Build xtasks \| armv7	1m 28s
Build HIL Tests \| esp32c3	1m 25s
Build xtasks \| aarch64	1m 27s
Build HIL Tests \| esp32c6	1m 25s
Build HIL Tests \| esp32h2	1m 28s
Build HIL Tests \| esp32	1m 28s
Build HIL Tests \| esp32s2	1m 11s
Build HIL Tests \| esp32s3	59s
Run HIL Tests \| ${{ matrix.target.soc }}	1s
	12m 16s

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