driver: pinctrl: add SCMI-based pinctrl driver for NXP i.MX SoCs

On some i.MX SoCs, such as i.MX95, the System Manager is running on a
Cortex-M core to manage the hardware resources and provide services for
SCMI requests.

So add the SCMI-based pinctrl driver to support these i.MX SoCs.

Signed-off-by: Yangbo Lu <yangbo.lu@nxp.com>
Signed-off-by: Hou Zhiqiang <Zhiqiang.Hou@nxp.com>
Signed-off-by: Laurentiu Mihalcea <laurentiu.mihalcea@nxp.com>