Enable SPI_DMA_XX_ASYNC and _PCNT tests on ESP32 and S2, remove GPIO …

[JurajSadel]

…usage from description

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Submission Checklist 📝

• I have updated existing examples or added new ones (if applicable).
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• My changes were added to the CHANGELOG.md in the proper section.
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Pull Request Details 📖

Description

spi_full_duplex_dma_async and spi_full_duplex_dma_pcnt didn't work on ESP32 and S2 - with #2131 merged, tests start passing.
Removed the GPIO usage from test description.

Not sure if we can tick the tests in #1524 because of #2098,

Testing

Ran HIL tests on ESP32 locally (for some reason my S2+PROG doesn't work - can't flash any test)

[bjoernQ]

Thanks

[bugadani]

I'm happy to see these go, thank you