configure.ac: use MbedTLS pkg-config if available #2573

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Job	Run time
additional-tests	46s
cmake-build (no)	45s
build-linux (gcc, no)	49s
cmake-build (openssl)	24s
check-missing-updates	25s
cmake-macos	15s
build-linux (gcc, openssl)	1m 1s
cmake-build (gnutls)	31s
build-linux (gcc, gnutls)	57s
cmake-build (mbedtls)	24s
build-linux (gcc, mbedtls)	57s
contiki-build-macos	43s
distribution	4m 23s
cmake-build (wolfssl)	34s
build-linux (gcc, wolfssl)	53s
cmake-build (tinydtls)	36s
build-linux (clang, no)	57s
documentation	2m 44s
mingw-cmake	1m 50s
build-linux (clang, openssl)	56s
build-linux (clang, gnutls)	1m 13s
ms-build	1m 6s
ms-cmake	2m 2s
build-linux (clang, mbedtls)	59s
other-build (contiki)	39s
build-linux (clang, wolfssl)	1m 6s
other-build (lwip)	1m 3s
pre-commit	14s
scan-build	4m 29s
other-build (riot)	2m 15s
tinydtls-build	57s
	36m 53s