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Bump third_party/mbedtls/repo from `5bc604f` to `2153b1b` #1918

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Run time

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Job	Run time
Chef - ESP32 CI Examples	7m 31s
Chef - Linux CI Examples	6m 43s
Chef - NRFConnect CI Examples	11m 53s
Chef - Telink CI Examples	7m 10s
	33m 17s