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Multiple CI and README.md Improvements (backport #324) (backport #341) #405

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Run time

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Job	Run time
micro_ros_idf (esp32, v5.4)	3m 8s
micro_ros_idf (esp32, v5.3)	2m 20s
micro_ros_idf (esp32s2, v5.4)	2m 38s
micro_ros_idf (esp32s2, v5.2)	1m 47s
micro_ros_idf (esp32s3, v5.3)	1m 46s
micro_ros_idf (esp32, v5.2)	1m 45s
micro_ros_idf (esp32s2, v5.3)	1m 53s
micro_ros_idf (esp32, v5.5)	1m 55s
micro_ros_idf (esp32s2, v5.5)	2m 42s
micro_ros_idf (esp32s3, v5.4)	2m 4s
micro_ros_idf (esp32c6, v5.2)	1m 45s
micro_ros_idf (esp32c3, v5.3)	1m 43s
micro_ros_idf (esp32c3, v5.4)	2m 1s
micro_ros_idf (esp32s3, v5.5)	2m 0s
micro_ros_idf (esp32c6, v5.3)	1m 51s
micro_ros_idf (esp32c3, v5.2)	1m 47s
micro_ros_idf (esp32c6, v5.4)	2m 10s
micro_ros_idf (esp32c3, v5.5)	1m 49s
micro_ros_idf (esp32c6, v5.5)	2m 32s
micro_ros_idf (esp32p4, v5.3)	2m 22s
micro_ros_idf (esp32p4, v5.2)	1m 23s
micro_ros_idf (esp32s3, v5.2)	1m 45s
micro_ros_idf (esp32p4, v5.5)	2m 28s
micro_ros_idf (esp32p4, v5.4)	2m 2s
	49m 36s