Bump CI esp-idf 5.3 beta2 -> rc1

Bump esp-idf 5.3 CI to rc1.

Signed-off-by: Peter M <petermm@gmail.com>

Author: petermm

.github/workflows/esp32-build.yaml

@@ -40,7 +40,7 @@ jobs:
          - 'v5.0.6'
          - 'v5.1.4'
          - 'v5.2.2'
-         - 'v5.3-beta2'
+         - 'v5.3-rc1'
 
         exclude:
         - esp-idf-target: "esp32c3"