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ipc: rework Zephyr IPC interfaces #20451

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Run time

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Job	Run time
gcc-build-default-platforms	2m 13s
qemu-boot-test (imx8m)	1m 20s
doxygen	31s
gcc-build-only (mt8186 mt8195 mt8188)	1m 47s
gcc-build-only (rn rmb)	1m 19s
	7m 10s