Create mutexes in heap memory #1784

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Job	Run time
Build xtasks \| armv7	1m 55s
Build HIL Tests \| esp32c2	2m 31s
Build HIL Tests \| esp32c3	3m 28s
Build xtasks \| aarch64	1m 46s
Build HIL Tests \| esp32c6	4m 42s
Build HIL Tests \| esp32h2	4m 5s
Build HIL Tests \| esp32	7m 7s
Build HIL Tests \| esp32s2	16m 11s
Build HIL Tests \| esp32s3	10m 6s
Run HIL Tests \| esp32c2	3m 0s
Run HIL Tests \| esp32c3	3m 7s
Run HIL Tests \| esp32c6	2m 39s
Run HIL Tests \| esp32h2	3m 11s
Run HIL Tests \| esp32	33s
Run HIL Tests \| esp32s2	5m 11s
Run HIL Tests \| esp32s3	4m 30s
	1h 14m 2s