drivers: nxp_s32: add missing soc.h inclusion

Some NXP S32 shim drivers are using macros defined in
soc/arm/nxp_s32/*/soc.h but not including soc.h. Those still
can be built because the header file is included indirectly
by some other header files. This is very fragile, it should
be included directly

Signed-off-by: Dat Nguyen Duy <dat.nguyenduy@nxp.com>