dts: bindings: Remove deprecated syntax for ESP32 GPIO and NRF PWM

Use the new 'compatible:', 'include:', and 'required:' keys, and clean
it up like other bindings.

Shorten the 'description:' text, because it appears in the output as a
comment above the generated macros, and it looks neater.

Fixes: #19385

Signed-off-by: Ulf Magnusson <Ulf.Magnusson@nordicsemi.no>