change(xtensa): Deprecate ".../xtensa_api.h" include path

This commit deprecates the "freertos/xtensa_api.h" and "xtensa/xtensa_api.h"
include paths. Users should use "xtensa_api.h" instead.

- Replace legacy include paths
- Removed some unnecessary includes of "xtensa_api.h"
- Replaced some calls with "esp_cpu_..." equivalents
- Add warning to compatibility header

components/driver/touch_sensor/esp32/touch_sensor.c

@@ -13,7 +13,6 @@
 #include "soc/rtc.h"
 #include "soc/periph_defs.h"
 #include "freertos/FreeRTOS.h"
-#include "freertos/xtensa_api.h"
 #include "freertos/semphr.h"
 #include "esp_timer.h"
 #include "esp_intr_alloc.h"