dts: arm64: ti: ti_am62x_a53: Add MAIN_I2C*

Add all main domain i2cs.

Also using the naming scheme from linux kernel to use the domain prefix
in nodes. It would be best if the naming scheme is followed for all new
additions.

I will create PRs to migrate the already defined nodes to the prefix
based naming scheme in the future.

Signed-off-by: Ayush Singh <ayush@beagleboard.org>