Merge branch 'bugfix/conn_with_scan_c6_h2' into 'master'

fix(nimble): Enable support for Connect with scan for 32/ c6/ h2 chip

Closes BLERP-1822

See merge request espressif/esp-idf!38826

Author: rahult-github

components/bt/host/nimble/Kconfig.in

@@ -1061,7 +1061,8 @@ config BT_NIMBLE_HIGH_DUTY_ADV_ITVL
 
 config BT_NIMBLE_HOST_ALLOW_CONNECT_WITH_SCAN
     bool "Allow Connections with scanning in progress"
-    depends on BT_NIMBLE_ENABLED && (IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32S3)
+    depends on BT_NIMBLE_ENABLED
+    depends on (!SOC_ESP_NIMBLE_CONTROLLER || IDF_TARGET_ESP32C6 || IDF_TARGET_ESP32H2)
     help
         This enables support for user to initiate a new connection with scan in progress