Darian Leung 5f5daaa420 freertos: Remove legacy hooks
This commit refactors the legacy hooks as follows:

- Removed CONFIG_FREERTOS_LEGACY_HOOKS
- FreeRTOS hooks are now enabled via:
    - CONFIG_FREERTOS_USE_IDLE_HOOK
    - CONFIG_FREERTOS_USE_TICK_HOOK
- Update IDF hooks documentation
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..
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