hal: Route CPU and Interrupt Controller HAL/LL to esp_cpu calls

This commit makes changes to cpu_ll.h, cpu_hal.h, and interrupt_controller_hal.h:

- Moved to esp_hw_support in order to be deprecated in the future
- HAL/LL API now route their calls to esp_cpu.h functions instead

Also updated soc_hal.h as follows:

- Removed __SOC_HAL_..._OTHER_CORES() macros as they dependend on cpu_hal.h
- Made soc_hal.h and soc_ll.h interfaces always inline, and removed soc_hal.c.

This commit also updates the XCHAL_ERRATUM_572 workaround by

- Removing it's HAL function and invoking the workaround it directly the bootloader
- Added missing workaround for the ESP32-S3

components/bootloader_support/src/bootloader_mem.c

@@ -15,8 +15,6 @@
 
 void bootloader_init_mem(void)
 {
-    cpu_hal_init_hwloop();
-
 #ifdef CONFIG_BOOTLOADER_REGION_PROTECTION_ENABLE
     // protect memory region
     esp_cpu_configure_region_protection();