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Support SysTimer as timebase on ESP32-S2 #2629

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Run time

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Job	Run time
esp32c3-hal	3m 44s
esp32c6-hal	3m 55s
esp32c6-lp-hal	1m 23s
esp32c2-hal	2m 25s
esp32h2-hal	3m 12s
esp32-hal	6m 32s
esp32s2-hal	9m 22s
esp-hal-smartled	5m 41s
ulp-riscv-hal	1m 6s
clippy-riscv	3m 35s
clippy-xtensa	5m 17s
esp32s3-hal	10m 18s
esp-riscv-rt	49s
msrv-riscv	6m 35s
msrv-xtensa	9m 12s
rustfmt	29s
	1h 13m 35s