cleanup: include/: move misc/util.h to sys/util.h

move misc/util.h to sys/util.h and
create a shim for backward-compatibility.

No functional changes to the headers.
A warning in the shim can be controlled with CONFIG_COMPAT_INCLUDES.

Related to #16539

Signed-off-by: Anas Nashif <anas.nashif@intel.com>
diff --git a/drivers/adc/adc_sam_afec.c b/drivers/adc/adc_sam_afec.c
index 43d6abc..f993265 100644
--- a/drivers/adc/adc_sam_afec.c
+++ b/drivers/adc/adc_sam_afec.c
@@ -14,7 +14,7 @@
 
 #include <errno.h>
 #include <sys/__assert.h>
-#include <misc/util.h>
+#include <sys/util.h>
 #include <device.h>
 #include <init.h>
 #include <soc.h>