Need to add support for mbedTLS v4

[flichtenheld]

mbedTLS v4 has various API changes, so we can't currently use it.

See https://github.com/Mbed-TLS/mbedtls/blob/development/docs/4.0-migration-guide.md for more information.

[flichtenheld]

PR #868 has the required changes to support mbedTLS v4 builds in GHA. Note that this only fixes the issues related to deprecation of Make support in mbedTLS. It does not address the actual build failures.