Support esp-idf v6.0 (backport #334)#368
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(cherry picked from commit 04f3cca)
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Added support for ESP-IDF v6.0.
Handled the new default libc (Picolibc). There may be a cleaner approach for handling the CMake-related changes, though.
Also made several version-specific compatibility adjustments and updated the CI configuration.
This is an automatic backport of pull request #334 done by Mergify.