CI

Add an `xtask` package to simplify our CI workflow #26

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Run time

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Job	Run time
test	33s
Check esp32	13m 1s
Check esp32c2	4m 28s
Check esp32c3	4m 41s
Check esp32c6	5m 15s
Check esp32h2	4m 11s
Check esp32s2	11m 16s
Check esp32s3	13m 48s
	57m 13s