Update mbedtls-prepare-build for Mbed TLS 3.4+

[gilles-peskine-arm]

This is a collection of updates to mbedtls-prepare-build to add more presets and support some changes in mbedtls from the last couple of years. Has changes needed for 3.4, for 3.6, for the post-3.6 framework moves and for tf-psa-crypto as of 2024-07-17.