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/esp32s2/touch_sensor.c

@@ -11,7 +11,6 @@
 #include "sys/lock.h"
 #include "soc/soc_pins.h"
 #include "freertos/FreeRTOS.h"
-#include "freertos/xtensa_api.h"
 #include "freertos/semphr.h"
 #include "freertos/timers.h"
 #include "esp_intr_alloc.h"