CI

Add an `xtask` package to simplify our CI workflow #25

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Run time

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Job	Run time
test	36s
Check esp32	11m 42s
Check esp32c2	4m 38s
Check esp32c3	5m 7s
Check esp32c6	5m 9s
Check esp32h2	4m 25s
Check esp32s2	10m 4s
Check esp32s3	12m 48s
	54m 29s