Merge changes from topic "for_lts_v2.10.5" into lts-v2.10

* changes:
  fix(mbedtls): sign verification issue with invalid Key/Signature
  docs(prerequisites): update mbedtls version used
  feat(mbedtls): update config for 3.6.0
  refactor(mbedtls): remove mbedtls 2.x support