v3.6.2-ncs4-snapshot1: [nrf noup]: Allow for using legacy when MBEDTLS_FORCE_LEGACY_MD/CIPHER

-This allows TF-M minimal configuration to stil dispatch using legacy
 while we are waiting for more apps/samples to be ported to use
 PSA crypto APIs

Signed-off-by: Frank Audun Kvamtrø <frank.kvamtro@nordicsemi.no>
(edited cherry pick of 98603a8c91660beac00e0ee1d76198fb7c4ed29b)
Signed-off-by: Tomi Fontanilles <tomi.fontanilles@nordicsemi.no>