drivers: i2c_nrfx_{twi, twim}: Remove potential I2C deadlock

Remove K_FOREVER wait on completion_sync.
In some situations (a short on I2C SDA line for example), this
semaphore will never be released and therefore we should not wait
it forever.
Instead we wait for a maximum of 100msec and return an error if we
weren't able to retrieve the semaphore.
In such situation, the program is not stuck anymore, but the I2C
driver must be uninit then init again to work again.

Fixes #25076.

Signed-off-by: Xavier Chapron <xavier.chapron@stimio.fr>