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UART: Move RX/TX pin assignment from constructor to builder functions #9803

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Job	Run time
esp-hal (esp32c2)	8m 17s
esp-hal (esp32c3)	9m 8s
extras	1m 11s
esp-hal (esp32c6)	11m 19s
esp-hal (esp32h2)	9m 20s
esp-hal (esp32)	13m 20s
msrv	7m 50s
esp-hal (esp32s2)	12m 58s
esp-hal (esp32s3)	14m 15s
rustfmt	32s
host-tests	17s
	1h 28m 27s