Merge branch 'feat/usb-h4-support' into 'master'

feat(soc/usb): Add USB support for ESP32-H4

Closes IDF-12341 and IDF-12342

See merge request espressif/esp-idf!41642

Author: igi540

components/esp_hw_support/test_apps/usb_phy/README.md

@@ -1,4 +1,4 @@
-| Supported Targets | ESP32-P4 | ESP32-S2 | ESP32-S3 |
-| ----------------- | -------- | -------- | -------- |
+| Supported Targets | ESP32-H4 | ESP32-P4 | ESP32-S2 | ESP32-S3 |
+| ----------------- | -------- | -------- | -------- | -------- |
 
 # USB: PHY sanity checks