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updated introduction to Zephyr RTOS page

Dhruv Menon requested to merge melta101/docs.beagleboard.io:main into main

This PR introduces updates the Zephyr-related instructions in the BeagleBoard documentation

  1. step-by-step guide for working with Zephyr on BeagleBoard platforms
  2. Clarifications in the configuration and flashing process to ensure compatibility with BeagleBoard hardware.

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