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ci: Adapt HIL tests to use RPi (#1493) #4591

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Run time

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Job	Run time
msrv-riscv	1m 51s
esp-hal (esp32c2)	2m 45s
esp-hal (esp32c3)	3m 10s
esp-hal (esp32c6)	4m 30s
esp-lp-hal (esp32c6)	1m 25s
esp-hal (esp32h2)	3m 20s
clippy-riscv	2m 9s
esp-lp-hal (esp32s2)	1m 27s
clippy-xtensa	2m 47s
esp-hal (esp32)	6m 12s
esp-lp-hal (esp32s3)	1m 27s
esp-hal (esp32s2)	7m 0s
esp-riscv-rt	47s
esp-hal (esp32s3)	8m 15s
HIL Test \| esp32c3	1m 28s
msrv-xtensa	3m 14s
HIL Test \| esp32c6	1m 36s
rustfmt	18s
HIL Test \| esp32h2	1m 37s
HIL Test \| esp32s3	3m 10s
	58m 28s