[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/voice_assistant/test.esp32-ard.yaml

@@ -0,0 +1,57 @@
+esphome:
+  on_boot:
+    then:
+      - voice_assistant.start
+      - voice_assistant.start_continuous
+      - voice_assistant.stop
+
+wifi:
+  ssid: MySSID
+  password: password1
+
+api:
+
+i2s_audio:
+  i2s_lrclk_pin: 16
+  i2s_bclk_pin: 17
+  i2s_mclk_pin: 15
+
+microphone:
+  - platform: i2s_audio
+    id: mic_id_external
+    i2s_din_pin: 13
+    adc_type: external
+    pdm: false
+
+speaker:
+  - platform: i2s_audio
+    id: speaker_id
+    dac_type: external
+    i2s_dout_pin: 12
+    mode: mono
+
+voice_assistant:
+  microphone: mic_id_external
+  speaker: speaker_id
+  on_listening:
+    - logger.log: "Voice assistant microphone listening"
+  on_start:
+    - logger.log: "Voice assistant started"
+  on_stt_end:
+    - logger.log:
+        format: "Voice assistant STT ended with result %s"
+        args: [x.c_str()]
+  on_tts_start:
+    - logger.log:
+        format: "Voice assistant TTS started with text %s"
+        args: [x.c_str()]
+  on_tts_end:
+    - logger.log:
+        format: "Voice assistant TTS ended with url %s"
+        args: [x.c_str()]
+  on_end:
+    - logger.log: "Voice assistant ended"
+  on_error:
+    - logger.log:
+        format: "Voice assistant error - code %s, message: %s"
+        args: [code.c_str(), message.c_str()]