ESP32 Build

Add AP_HAL::I2CDeviceManager->get_device_ptr #19863

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Run time

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Job	Run time
build (esp32buzz, 10)	12m 17s
build (esp32buzz, 10)	12m 17s
build (esp32s3empty, 10)	3m 26s
build (esp32s3empty, 10)	11m 9s
	39m 9s