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west.yml: update zephyr to 3841a72452ec #23898

Job	Run time
build-windows (-d, mnfst, lnl)	9m 40s
build-linux (mnfst, tgl-h)	4m 35s
build-windows (mnfst, mtl)	8m 57s
build-windows (mnfst, ptl)	9m 56s
build-linux (mnfst, imx8 imx8x)	4m 33s
build-linux (mnfst, mtl)	4m 11s
LP64-WIP	3m 34s
build-windows (mnfst, imx8 imx8x)	9m 26s
build-windows (mnfst, lnl)	8m 53s
build-linux (mnfst, imx8m imx8ulp)	4m 41s
build-linux (mnfst, tgl)	4m 0s
manifest-check	2m 45s
build-windows (mnfst, imx8m imx8ulp)	11m 33s
build-linux (mnfst, lnl)	4m 29s
build-linux (mnfst, wcl imx95)	6m 4s
build-windows (mnfst, tgl)	8m 39s
build-windows (mnfst, tgl-h)	9m 11s
build-linux (mnfst, ptl)	5m 31s
build-linux (-d, mnfst, lnl)	4m 18s
compare-linux-win	32s
	2h 5m 28s