test environment setup

Migration of AP_HAL_ESP32 targets from esp-idf 4.4 to 5.3, take two #515

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Run time

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Job	Run time
build (ubuntu, focal)	10m 36s
build-alpine	6m 59s
build (ubuntu, jammy)	10m 7s
build (ubuntu, mantic)	32m 16s
build (ubuntu, noble)	37m 51s
build (archlinux, latest)	12m 29s
build (debian, bookworm)	11m 15s
build (debian, bullseye)	8m 6s
build (debian, buster)	7m 24s
	2h 17m 3s