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config_psa: do not update legacy symbols in client-only PSA build
Description
This commits belongs to PR 9138 of the official MbedTLS repo (https://github.com/Mbed-TLS/mbedtls/pull/9138). It will be included both in the next LTS release (3.6.1) as well as the next standard one (4.0) so it can be dropped at the next Zephyr's downstream version bump.