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feat #388 round-trip auxiliary sub-devices via schema v2 (#404)

* feat #388 round-trip auxiliary sub-devices via schema v2

Introduces ``axes.auxiliary_axes`` record form (``{name, category, ...}``)
so nested ``PseudoPositioner`` auxiliaries survive export -> restore with
their sub-axis structure preserved.  Schema bumped to v2; legacy v1 flat
list of names still accepted on read.  Adds a public registry hook
(``register_aux_reconstructor``) for user-supplied builders, an extension
to ``define_real_axis``/``make_component`` to accept callables, and
ophyd-typed helpers (``describe_aux``, ``make_aux_pseudo_positioner_class``)
in ``devices.py`` to keep ``ops.py`` ophyd-free.

Agent: OpenCode (claudeopus47)

* test #388 cover defensive branches for aux roundtrip

Adds tests for the TypeError paths in ``define_real_axis`` and
``make_component`` (callable-or-string ``class``), and for the
real-axis-name overlap branch in ``simulator_from_config``.

Agent: OpenCode (claudeopus47)

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