Remove MBEDTLS_PSA_CRYPTO_CONFIG configuration option

[ronald-cron-arm]

Suggested enhancement

Once depends.py is adapted to the PSA crypto configuration, we will be ready to remove the MBEDTLS_PSA_CRYPTO_CONFIG configuration option. This will address #8153 but the removal of the legacy configuration options that will be done later as part of the 4.0 work.

Check with the outcomes.csv files on the base and head of this PR that the configurations in test components are equivalent.

Fixes #8153
Depends on: #9140, #9141, #9142, #9143, #9144 and #9145

Justification

Mbed TLS needs this for the repo split.