Merge main into ADU feature branch

[danewalton]

Unclean current merge: https://github.com/Azure/azure-iot-middleware-freertos/compare/main...feature/iot-adu?expand=1

What the merge into main will look like once this is merged: https://github.com/Azure/azure-iot-middleware-freertos/compare/main...dane/mergemain?expand=1