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Improve the SYSTIMER API #5429

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Run time

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Job	Run time
esp-lp-hal (esp32c6)	48s
esp-println (esp32c2)	32s
esp-lp-hal (esp32s2)	47s
esp-hal (esp32c2)	3m 49s
esp-println (esp32c3)	32s
esp-riscv-rt	20s
esp-lp-hal (esp32s3)	38s
esp-hal (esp32c3)	4m 20s
esp-println (esp32c6)	32s
esp-hal (esp32c6)	5m 3s
esp-println (esp32h2)	33s
esp-hal (esp32h2)	3m 51s
clippy	9m 26s
extras	57s
esp-println (esp32)	2m 3s
esp-hal (esp32)	7m 53s
esp-println (esp32s2)	2m 12s
esp-hal (esp32s2)	7m 24s
esp-println (esp32s3)	2m 4s
HIL Test \| esp32c2	1m 7s
esp-hal (esp32s3)	9m 28s
msrv-riscv	1m 54s
HIL Test \| esp32c3	1m 16s
HIL Test \| esp32c6	1m 30s
msrv-xtensa	3m 42s
rustfmt	21s
HIL Test \| esp32h2	1m 15s
HIL Test \| esp32s2	3m 23s
HIL Test \| esp32s3	4m 0s
	1h 21m 40s