[CI] Introduce testing for IDF 5 (and other arbitrary framework versions) (#6802)

* Initial changes to support testing of additional framework versions

* Rename Arduino test files

tests/components/output/test.rp2040-ard.yaml

@@ -0,0 +1,13 @@
+esphome:
+  on_boot:
+    then:
+      - output.turn_off: light_output_1
+      - output.turn_on: light_output_1
+      - output.set_level:
+          id: light_output_1
+          level: 50%
+
+output:
+  - platform: rp2040_pwm
+    id: light_output_1
+    pin: 12