refactor(gptimer): clean up SOC capabilities for GPTIMER and Timer Group

- Remove GPTIMER and TIMG related definitions from soc_caps_full.h files
- Move timer peripheral definitions to appropriate HAL layer files
- Update references across components to use proper HAL abstractions
- Consolidate timer group and GPTIMER capabilities organization
- Ensure consistent timer configuration across all ESP32 variants

This refactoring improves the separation of concerns between SOC
capabilities and HAL implementations for timer-related functionality.

components/esp_hal_timg/esp32h4/timer_periph.c

@@ -4,7 +4,7 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-#include "soc/timer_periph.h"
+#include "hal/timer_periph.h"
 
 const soc_timg_gptimer_signal_desc_t soc_timg_gptimer_signals[2][1] = {
     [0] = {