west.yml: update zephyr to 16f4d6c23e4

Total of 1426 commits.

Changes include:

54545430e46 drivers: sai: Fix compile time error with clang
96d654bbc86 west.yml: Update hal_xtensa revision
cf7e2e63c17 soc: intel_adsp: rework host IPC using IPC service
d910306fd00 soc: intel_adsp: remove IDC dt default for
            CONFIG_INTEL_ADSP_IPC
0b3b6f30a3d ipm: remove the Intel Audio DSP CAVS host IPM driver
a4225b1ee8b pm: Add constraint lists and APIs
ae1f13149fc pm: Extend pm notifier to be able to report substate
823c519db22 subsys/llext: Fail if section name index is outside
            strings area
2bc84dc6d62 subsys/llext: Fail if symbol name index is outside
            strings area
3f6734034a7 subsys/llext: Fail if stated symbol size doesn't fit
            `elf_sym_t`
c6b6c62c21b arch: xtensa: (cosmetic) simplify function prototypes
5c5e17f0f37 kernel: dynamic: Optimize stack pool usage
8658ce5c9ef drivers: dma: dw: Add power management state check
            in get_status

Signed-off-by: Tomasz Leman <tomasz.m.leman@intel.com>

Author: tmleman

west.yml

@@ -43,7 +43,7 @@ manifest:
 
     - name: zephyr
       repo-path: zephyr
-      revision: 5bef4a9d6264761c10d739b345eb2f7ded719099
+      revision: 96d654bbc86db5f3fecfc5694ac8f580a13948b8
       remote: zephyrproject
 
       # Import some projects listed in zephyr/west.yml@revision