board: add support for seeed xiao esp32s3

[LynnL4]

Checklist

• [x] Please provide specific title of the PR describing the change
• [x] If you are adding an new boards, please make sure
  • [x] Provide link to your allocated VID/PID if applicable
  • [x] Add your board to action ci in correct workflow and alphabet order for release binary
  • [x] UF2_BOARD_ID in your board.h follow correct format from uf2 specs