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Fix async PARL_IO RX #5775

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Run time

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Job	Run time
extras	1m 38s
esp-hal (esp32c2)	10m 1s
msrv	4m 39s
rustfmt	31s
esp-hal (esp32c3)	10m 45s
esp-hal (esp32c6)	14m 9s
esp-hal (esp32h2)	11m 13s
HIL Test \| esp32c2	1m 21s
HIL Test \| esp32c3	1m 25s
esp-hal (esp32)	14m 59s
HIL Test \| esp32c6	1m 36s
esp-hal (esp32s2)	14m 23s
HIL Test \| esp32h2	1m 29s
esp-hal (esp32s3)	17m 30s
HIL Test \| esp32	3m 8s
HIL Test \| esp32s2	3m 4s
HIL Test \| esp32s3	3m 33s
	1h 55m 24s