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[radio] add `OT_RADIO_CAPS_RX_ON_WHEN_IDLE` capability #510

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Run time

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Job	Run time
arm-gcc-4	14m 57s
clang-9	2h 13m 1s
clang-10	1h 17m 38s
arm-gcc-5	15m 4s
clang-m32-9	1h 32m 41s
clang-11	1h 27m 43s
clang-m32-10	1h 26m 53s
cmake-version	16m 7s
arm-gcc-6	16m 35s
clang-12	1h 40m 40s
clang-m32-11	1h 32m 13s
arm-gcc-7	12m 14s
clang-13	1h 26m 41s
clang-m32-12	1h 50m 27s
gcc-9	1h 34m 38s
arm-gcc-9	15m 31s
clang-m32-13	1h 10m 52s
gcc-10	1h 54m 52s
arm-gcc-10	12m 29s
gcc-11	2h 13m 15s
arm-gcc-11	13m 19s
gn	2m 34s
gcc-12	1h 53m 21s
arm-gcc-12	16m 3s
markdown-lint-check	53s
mbedtls3-build	3m 29s
package-gcc	5m 56s
pretty	4m 19s
package-clang	5m 31s
scan-build	11m 53s
spell-check	24s
android-ndk	7m 20s
macos-clang	46m 20s
macos-gcc	1h 0m 54s
	1d 3h 56m 47s