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west.yml: update zephyr to 4aa1ac9f969 #20170

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Run time

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Job	Run time
doxygen	37s
gcc-build-only (mt8186 mt8195 mt8188)	1m 17s
qemu-boot-test (imx8m)	1m 25s
gcc-build-only (rn rmb)	1m 10s
gcc-build-default-platforms	1m 52s
	6m 21s