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feat(bb_mdns): bb_mdns_query_txt async shim (B1-81) (#111)

Adds a non-blocking TXT query API. Caller submits a request and a
callback; bb_mdns's internal worker performs the (blocking)
mdns_query_txt and invokes the callback when results arrive or the
query times out. Caller's task never blocks — fixes the original
TaipanMiner regression where knot's periodic requery on the
esp_timer service task starved the IDF log mutex.

Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com>

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