test environment setup

Migration of AP_HAL_ESP32 targets from esp-idf 4.4 to 5.3, take two #512

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Run time

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Job	Run time
build (ubuntu, focal)	9m 53s
build-alpine	6m 47s
build (ubuntu, jammy)	8m 31s
build (ubuntu, mantic)	31m 17s
build (ubuntu, noble)	40m 24s
build (archlinux, latest)	12m 37s
build (debian, bookworm)	9m 44s
build (debian, bullseye)	8m 10s
build (debian, buster)	7m 55s
	2h 15m 18s