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ipc: move delayed IPC sending to the primary core #19451

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Job	Run time
doxygen	33s
gcc-build-default-platforms	1m 52s
gcc-build-only (rn rmb)	1m 13s
qemu-boot-test (imx8m)	1m 19s
gcc-build-only (mt8186 mt8195 mt8188)	1m 14s
sof-docs	4m 5s
	10m 16s