HIL

Rework documentation generation functionality of `xtask` #4736

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Run time

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Job	Run time
Build xtasks \| armv7	1m 43s
Build HIL Tests \| esp32c2	1m 39s
Build xtasks \| aarch64	1m 48s
Build HIL Tests \| esp32c3	2m 1s
Build HIL Tests \| esp32c6	2m 9s
Build HIL Tests \| esp32h2	1m 53s
Build HIL Tests \| esp32	4m 26s
Build HIL Tests \| esp32s2	4m 20s
Build HIL Tests \| esp32s3	5m 5s
Run HIL Tests \| esp32c2	4m 34s
Run HIL Tests \| esp32c3	5m 24s
Run HIL Tests \| esp32c6	4m 32s
Run HIL Tests \| esp32h2	4m 57s
Run HIL Tests \| esp32	7m 3s
Run HIL Tests \| esp32s2	7m 40s
Run HIL Tests \| esp32s3	7m 22s
	1h 6m 36s