Add remove-dependency CLI command (PACMAN-871)

[anujdeshpande]

Is your feature request related to a problem?

Once I add a managed component, I can't find a method to remove it from my app.

Describe the solution you'd like.

idf.py remove-dependency

Describe alternatives you've considered.

Manually deleting - but it comes back when I do a build.

Additional context.

ESP-IDF v5.1.3