[DMA 7/8]: Remove `Dma`, move channels to `Peripherals` #3527

Job	Run time
Build xtasks \| armv7	1m 35s
Build HIL Tests \| esp32c2	1m 18s
Build xtasks \| aarch64	1m 36s
Build HIL Tests \| esp32c3	1m 35s
Build HIL Tests \| esp32c6	2m 29s
Build HIL Tests \| esp32h2	2m 25s
Build HIL Tests \| esp32	3m 57s
Build HIL Tests \| esp32s2	3m 44s
Build HIL Tests \| esp32s3	4m 17s
Run HIL Tests \| ${{ matrix.target.soc }}	0s
	22m 56s

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