19988: pkg/nanocbor: Update for fixed nanocbor_skip_simple() [backport 2023.10] r=MrKevinWeiss a=bergzand

# backport of #19975 and #19983

### Contribution description

Manually created the backport this time :cry: 

Includes both #19975 and #19983 to include the nanocbor bug fix for the `nanocbor_skip_simple()` function

### Testing procedure

The usual nanocbor test in `tests/pkg/nanocbor`

### Issues/PRs references

None

Co-authored-by: Koen Zandberg <[email protected]>