drivers: i2c: add I2C bus recovery API

Add API for recovering an I2C bus. This API can be used to recover
from situations where the I2C master and one or more I2C slaves are
out of synchronization (e.g. if the I2C master was reset in the middle
of an I2C transaction or if a noise pulse was induced on the SCL
line).

Fixes #23441.

Signed-off-by: Henrik Brix Andersen <hebad@vestas.com>