[CI] Introduce testing for IDF 5 (and other arbitrary framework versions) (#6802)

* Initial changes to support testing of additional framework versions

* Rename Arduino test files

tests/components/modbus_controller/test.esp32-ard.yaml

@@ -0,0 +1,30 @@
+uart:
+  - id: uart_modbus_client
+    tx_pin: 17
+    rx_pin: 16
+    baud_rate: 9600
+  - id: uart_modbus_server
+    tx_pin: 1
+    rx_pin: 3
+    baud_rate: 9600
+
+modbus:
+  - id: mod_bus1
+    uart_id: uart_modbus_client
+    flow_control_pin: 15
+  - id: mod_bus2
+    uart_id: uart_modbus_server
+    role: server
+
+modbus_controller:
+  - id: modbus_controller1
+    address: 0x2
+    modbus_id: mod_bus1
+  - id: modbus_controller2
+    address: 0x2
+    modbus_id: mod_bus2
+    server_registers:
+      - address: 0x0000
+        value_type: S_DWORD_R
+        read_lambda: |-
+          return 42.3;