drivers: usb: Port `usb_dc_sam_usbhs` to `UDC API`

[carlescufi]

In order for the USB_DEVICE_STACK_NEXT to become the default, existing USB device drivers must be ported to it.
See #42066 for additional details.

Note that if this driver is not ported by Zephyr 4.0.0, this hardware will not work with the default USB stack in 4.0.0.

Example ports:

• udc_kinetis and udc_nrf PR usb: add new (experimental) USB device support #38679
• udc_it82xx2 PR drivers: udc: add IT82xx2 USB device controller driver #65792
• udc_dwc2 PR drivers: udc: add initial support for DWC2 device controller  #64943
• udc_stm32 PR drivers: usb: udc: add STM32 UDC driver #53408
• udc_mcux PR Implement nxp USB device controllers (udc_mcux) #70401

Skeleton file to use as a starting point:
https://github.com/zephyrproject-rtos/zephyr/blob/main/drivers/usb/udc/udc_skeleton.c

Documentation:
https://docs.zephyrproject.org/latest/connectivity/usb/device_next/usb_device.html
https://docs.zephyrproject.org/latest/connectivity/usb/device_next/api/index.html

[carlescufi]

@aurel32 do you have any plans to port this to the new stack?