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[zephyr] Added platform configuration to enable ICD support (#29128)
Changed Zephyr and nrfconnect platforms configuration to move from supporting SED to ICD: * Removed custom subscriptions handling. * Renamed SED kconfig option names and descriptions to match the ICD related ones. * Introduced new kconfig options allowing to configure idle mode interval, active mode interval, active mode threshold and number of clients per fabric.
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