Migrate FreeRTOS to ESP-IDF 5.0

Tasks Snapshot

The header task_snapshot.h has been removed from freertos/task.h. ESP-IDF developers should include "freertos/task_snapshot.h` in case they need tasks snapshot API.

FreeRTOS Asserts

Previously FreeRTOS asserts were configured separately from the rest of the system using the FREERTOS_ASSERT kconfig option. This option has now been removed and the configuration is now done through COMPILER_OPTIMIZATION_ASSERTION_LEVEL.