[DMA 7/8]: Remove `Dma`, move channels to `Peripherals` #3515

Job	Run time
Build HIL Tests \| esp32c2	39s
Build xtasks \| armv7	39s
Build HIL Tests \| esp32c3	1s
Build xtasks \| aarch64	39s
Build HIL Tests \| esp32c6	39s
Build HIL Tests \| esp32h2	1s
Build HIL Tests \| esp32	38s
Build HIL Tests \| esp32s2	1s
Build HIL Tests \| esp32s3	1s
Run HIL Tests \| ${{ matrix.target.soc }}	1s
	3m 19s

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