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[ESP32] Fix the docs when upgrading to esp-idf v5.1 #28570
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PR #28570: Size comparison from 367a0c6 to 6a16b42 Increases (8 builds for cyw30739, esp32, psoc6, telink)
Decreases (15 builds for bl602, bl702, bl702l, efr32, psoc6, telink)
Full report (60 builds for bl602, bl702, bl702l, cc32xx, cyw30739, efr32, esp32, k32w, linux, mbed, nrfconnect, psoc6, qpg, telink)
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With older steps one will run into below error, so fixing them.
Also, modified the steps to only pull to depth 1.