soc: migrate includes to <zephyr/...>

In order to bring consistency in-tree, migrate all soc code to the
new prefix <zephyr/...>. Note that the conversion has been scripted,
refer to zephyrproject-rtos#45388 for more details.

Signed-off-by: Gerard Marull-Paretas <gerard.marull@nordicsemi.no>
diff --git a/soc/xtensa/esp32/esp32-mp.c b/soc/xtensa/esp32/esp32-mp.c
index 857ae29..4d1c528 100644
--- a/soc/xtensa/esp32/esp32-mp.c
+++ b/soc/xtensa/esp32/esp32-mp.c
@@ -9,12 +9,12 @@
 #include "soc/gpio_periph.h"
 #include "soc/rtc_periph.h"
 
-#include <drivers/interrupt_controller/intc_esp32.h>
+#include <zephyr/drivers/interrupt_controller/intc_esp32.h>
 #include <soc.h>
-#include <device.h>
-#include <zephyr.h>
-#include <spinlock.h>
-#include <kernel_structs.h>
+#include <zephyr/device.h>
+#include <zephyr/zephyr.h>
+#include <zephyr/spinlock.h>
+#include <zephyr/kernel_structs.h>
 
 #define Z_REG(base, off) (*(volatile uint32_t *)((base) + (off)))