Backport for v3.1.x: feat(uart): fixes pin attach for any IDF 5.x #4868

Job	Run time
Generate matrix	4s
Push event file	3s
Build (validation, esp32c6) / Build validation tests for esp32c6	3m 35s
Build (validation, esp32s3) / Build validation tests for esp32s3	4m 57s
Build (validation, esp32h2) / Build validation tests for esp32h2	2m 44s
Build (validation, esp32c3) / Build validation tests for esp32c3	2m 55s
Build (validation, esp32) / Build validation tests for esp32	4m 25s
Build (validation, esp32p4) / Build validation tests for esp32p4	2m 42s
Build (validation, esp32s2) / Build validation tests for esp32s2	3m 49s
Hardware	0s
QEMU	0s
	25m 14s

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