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west.yml: update the zephyr revision to 21958f13cf1a for AMD ACP 7X platforms. #23923

Job	Run time
manifest-check	3m 15s
LP64-WIP	3m 40s
build-linux (-d, mnfst, lnl)	3m 24s
build-windows (-d, mnfst, lnl)	6m 58s
build-linux (mnfst, imx8m imx8ulp)	4m 27s
build-linux (mnfst, lnl)	4m 7s
build-linux (mnfst, imx8 imx8x)	4m 23s
build-linux (mnfst, ptl)	5m 42s
build-linux (mnfst, tgl)	3m 59s
build-linux (mnfst, wcl imx95)	5m 41s
build-linux (mnfst, mtl)	4m 14s
build-windows (mnfst, imx8m imx8ulp)	8m 54s
build-windows (mnfst, tgl)	8m 41s
build-windows (mnfst, ptl)	10m 5s
build-windows (mnfst, mtl)	8m 21s
build-linux (mnfst, tgl-h)	3m 59s
build-windows (mnfst, lnl)	9m 29s
build-windows (mnfst, tgl-h)	7m 39s
build-windows (mnfst, imx8 imx8x)	9m 43s
compare-linux-win	22s
	1h 57m 3s