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_system/port/soc/esp32/system_internal.c

@@ -17,7 +17,6 @@
 #include "soc/gpio_periph.h"
 #include "soc/efuse_periph.h"
 #include "soc/rtc_periph.h"
-#include "soc/timer_periph.h"
 #include "esp_cpu.h"
 #include "soc/rtc.h"
 #include "esp_private/rtc_clk.h"