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Add HIL testing #3964

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Run time

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Job	Run time
esp-hal (esp32c2)	2m 8s
esp-hal (esp32c3)	2m 15s
esp-hal (esp32c6)	3m 15s
esp-hal (esp32h2)	2m 33s
esp-riscv-rt	44s
esp-lp-hal (esp32c6)	1m 8s
esp-hal (esp32)	4m 55s
msrv-riscv	1m 42s
esp-lp-hal (esp32s2)	1m 6s
esp-hal (esp32s2)	5m 45s
esp-lp-hal (esp32s3)	1m 11s
esp-hal (esp32s3)	6m 16s
clippy-riscv	2m 3s
clippy-xtensa	3m 0s
msrv-xtensa	3m 0s
rustfmt	18s
	41m 19s