Improve xtensa interrupt latency

[bjoernQ]

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Submission Checklist 📝

• I have updated existing examples or added new ones (if applicable).
• I have used cargo xtask fmt-packages command to ensure that all changed code is formatted correctly.
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Pull Request Details 📖

Description

This applies basically the same changes I already did for RISC-V in #1679

Numbers measured on ESP32-S3:

Before: 18.66 / 13.68
After: 13.20 / 7.79

Testing

Used same setup as in the RISC-V PR

[jessebraham]

One small comment that you're free to ignore, otherwise LGTM!

[JurajSadel]

LGTM, thanks!