ESP32: Use mbedtls component in IDF (#26608)

* ESP32: use mbedtls config in IDF

* esp32: remove esp32_mbedtls component
diff --git a/src/test_driver/esp32/sdkconfig_qemu.defaults b/src/test_driver/esp32/sdkconfig_qemu.defaults
index 31a9916..6278876 100644
--- a/src/test_driver/esp32/sdkconfig_qemu.defaults
+++ b/src/test_driver/esp32/sdkconfig_qemu.defaults
@@ -49,3 +49,6 @@
 # Crypto tests generally take long enough for the watchdog to trigger
 # otherwise.
 CONFIG_ESP_TASK_WDT=n
+
+# Enable HKDF in mbedtls
+CONFIG_MBEDTLS_HKDF_C=y