Backport for v3.1.x: feat(uart): fixes pin attach for any IDF 5.x #4479

Job	Run time
Push event file	3s
Generate matrix	5s
Build (validation, esp32s3) / Build validation tests for esp32s3	4m 43s
Build (validation, esp32s2) / Build validation tests for esp32s2	3m 52s
Build (validation, esp32c6) / Build validation tests for esp32c6	3m 17s
Build (validation, esp32h2) / Build validation tests for esp32h2	2m 30s
Build (validation, esp32c3) / Build validation tests for esp32c3	2m 43s
Build (validation, esp32) / Build validation tests for esp32	3m 54s
Build (validation, esp32p4) / Build validation tests for esp32p4	2m 39s
Hardware	0s
QEMU	0s
	23m 46s

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