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Add an `xtask` package to simplify our CI workflow (#22) #27

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Run time

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Job	Run time
test	37s
Check esp32	13m 5s
Check esp32c2	4m 46s
Check esp32c3	5m 11s
Check esp32c6	5m 29s
Check esp32h2	4m 14s
Check esp32s2	11m 35s
Check esp32s3	14m 5s
	59m 2s