feat(mbedtls): update config for 3.6.0

Further, remove reliance of mbedtls_md_psa_alg_from_type on
the actual values of the PSA_ALG_... defines.

And work around a prior bug that would try to import a
SubjectPublicKeyInfo into a PSA key. Instead, we import the
SubjectPublicKey itself.

Change-Id: Ib345b0bd4f2994f366629ed162d18814fd05aa2b
Signed-off-by: Jimmy Brisson <jimmy.brisson@arm.com>
(cherry picked from commit 55aed7d798f3d48d6aa08d58eb46c4cda318bcfb)
diff --git a/include/drivers/auth/mbedtls/mbedtls_config-3.h b/include/drivers/auth/mbedtls/mbedtls_config-3.h
index 923fc54..37a9288 100644
--- a/include/drivers/auth/mbedtls/mbedtls_config-3.h
+++ b/include/drivers/auth/mbedtls/mbedtls_config-3.h
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Arm Limited. All rights reserved.
+ * Copyright (c) 2023-2024, Arm Limited. All rights reserved.
  *
  * SPDX-License-Identifier: BSD-3-Clause
  */
@@ -128,7 +128,6 @@
 #ifndef __ASSEMBLER__
 /* System headers required to build mbed TLS with the current configuration */
 #include <stdlib.h>
-#include <mbedtls/check_config.h>
 #endif
 
 /*