modules: hal_nordic: Update nrfx to version 2.1.0

Update the hal_nordic module revision, to switch to nrfx 2.1.0.

Because the list of peripherals for nRF5340 has changed as follows:
- SPIM2 has been renamed to SPIM4
- SPIM2-3, SPIS2-3, TWIM2-3, TWIS2-3, and UARTE2-3 have been added
a couple of related corrections needed to be applied in dts and Kconfig
files, plus the spi_nrfx_spim driver has been extended with the support
for SPIM4.

Signed-off-by: Andrzej Głąbek <andrzej.glabek@nordicsemi.no>