configure.ac: use MbedTLS pkg-config if available #2571

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Job	Run time
check-missing-updates	29s
build-linux (gcc, no)	1m 1s
cmake-build (no)	24s
build-linux (gcc, openssl)	52s
additional-tests	48s
cmake-build (openssl)	27s
build-linux (gcc, gnutls)	53s
cmake-macos	18s
cmake-build (gnutls)	23s
build-linux (gcc, mbedtls)	50s
cmake-build (mbedtls)	27s
distribution	4m 47s
contiki-build-macos	1m 15s
cmake-build (wolfssl)	25s
build-linux (gcc, wolfssl)	55s
cmake-build (tinydtls)	32s
build-linux (clang, no)	56s
documentation	3m 4s
build-linux (clang, openssl)	1m 9s
mingw-cmake	1m 43s
build-linux (clang, gnutls)	57s
ms-build	1m 5s
build-linux (clang, mbedtls)	53s
ms-cmake	2m 11s
build-linux (clang, wolfssl)	55s
other-build (contiki)	35s
pre-commit	15s
other-build (lwip)	56s
scan-build	4m 54s
other-build (riot)	1m 30s
tinydtls-build	57s
	36m 46s