Run ESP32 tests using QEMU

[bettio]

Add GitHub action for running ESP32 tests on QEMU xtensa.

These changes are made under both the "Apache 2.0" and the "GNU Lesser General Public License 2.1 or later" license terms (dual license).

SPDX-License-Identifier: Apache-2.0 OR LGPL-2.1-or-later