Add IDF caching for libraries #887

Job	Run time
build (macos-latest, rp2040, gcc)	14m 38s
build (macos-latest, esp8266, gcc)	27m 54s
build (macos-latest, host, gcc)	17m 31s
build (ubuntu-latest, esp8266, gcc)	18m 52s
build (ubuntu-latest, host, clang, Host)	24m 27s
build (ubuntu-latest, host, gcc)	22m 17s
build (ubuntu-latest, host, gcc64, Host)	21m 46s
build (ubuntu-latest, rp2040, gcc)	18m 20s
build (windows-latest, esp8266, gcc)	10m 2s
build (windows-latest, host, gcc)	27m 40s
build (windows-latest, rp2040, gcc)	7m 43s
	3h 31m 10s

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