Add support for building and running samples and tests in CI that use deprecated features

[carlescufi]

Is your enhancement proposal related to a problem? Please describe.

The problem is that, when we deprecate a module or subsystem, today we have no way of ensuring that it keeps working during the two release deprecation period. This is because CI fails whenever select DEPRECATED is used in Kconfig (as it should, since we don't want to allow deprecated code to be used in-tree).

Describe the solution you'd like
Extend the {sample,testcase}.yaml format so certain samples and tests can be built and executed even when enabling deprecated features.

Describe alternatives you've considered
Have a special CI build (i.e. twister invocation) that does not fail on deprecation.

Additional context
USB: #42066
TinyCrypt: #82323

[carlescufi]

CC @jfischer-no @PavelVPV