bump NCS to 2.4.1

[mniestroj]

This release has just few bugfix commits, so the impact should be minimal. Among other things, there is a fix for nRF53 (which is a host MCU on nRF7002-DK) that might be useful for downstream users.

[github-actions[bot]]

Visit the preview URL for this PR (updated for commit cc97d4e):

https://golioth-zephyr-sdk-doxygen-dev--pr425-ncs-bump-pdnoh4gq.web.app

_{(expires Fri, 18 Aug 2023 13:48:40 GMT)}

_{🔥 via Firebase Hosting GitHub Action 🌎}

_{Sign: a389eefadf4b4b68a539327b3459dd66c142cf49}