Update esp-nimble-cpp to match upstream

Description

Updated esp-nimble-cpp submodule to match upstream (which now has changes applied)
Update ble gatt server and menu to use newer versions of the APIs for the client connection setting / clearing and return type of deleteAllBonds

Motivation and Context

We upstreamed our changes from esp-cpp/esp-nimble-cpp into h2zero/esp-nimble-cpp, and in doing so slightly changed the APIs. This PR updates to the latest esp-cpp/esp-nimble-cpp which is sync-ed with upstream and updates the espp::BleGattServer and associated CLI menu to use the updated APIs. This will help us stay up to date with esp-nimble-cpp upstream as new bugfixes / features are developed.

Associated PRS that were merged from our fork:

How has this been tested?

Building and running the hid_service/example on a QtPy ESP32S3.

Screenshots (if appropriate, e.g. schematic, board, console logs, lab pictures):

CleanShot 2024-06-05 at 08 55 32

Types of changes

[ ] Bug fix (non-breaking change which fixes an issue)
[ ] New feature (non-breaking change which adds functionality)
[ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
[ ] Documentation Update
[ ] Hardware (schematic, board, system design) change
[x] Software change

Checklist:

[ ] My change requires a change to the documentation.
[ ] I have added / updated the documentation related to this change via either README or WIKI

Software

[ ] I have added tests to cover my changes.
[ ] I have updated the .github/workflows/build.yml file to add my new test to the automated cloud build github action.
[x] All new and existing tests passed.
[x] My code follows the code style of this project.

esp-cpp / espp