Rework hal initialization #1060

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Run time

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Job	Run time
Build HIL Tests \| esp32c2	1m 31s
Build xtasks \| armv7	1m 44s
Build HIL Tests \| esp32c3	1m 46s
Build xtasks \| aarch64	1m 38s
Build HIL Tests \| esp32c6	1m 58s
Build HIL Tests \| esp32h2	1m 47s
Build HIL Tests \| esp32s2	3m 50s
Build HIL Tests \| esp32s3	4m 34s
Run HIL Tests \| esp32c2	2m 39s
Run HIL Tests \| esp32c3	2m 34s
Run HIL Tests \| esp32c6	2m 39s
Run HIL Tests \| esp32h2	2m 37s
Run HIL Tests \| esp32s2	3m 54s
Run HIL Tests \| esp32s3	3m 34s
	36m 45s