[FEATURE] Create a way to integrate uORB sensors as wrapper around character device sensor to avoid duplication

### Is your feature request related to a problem? Please describe.

As discussed here: https://github.com/apache/nuttx/pull/17363 adding support to character device sensor and uORB sensor is non ideal. Although there are "natural" pressure in favor on uORB sensor, they are not the best option for small microcontrollers with few KBs of RAM.

### Describe the solution you'd like

I truly believe it is possible to solve this issue creating uORB drivers as a wrapper around character device sensors. It could avoid duplication of driver development and simplify the development.

### Describe alternatives you've considered

_No response_

### Verification

- [x] I have verified before submitting the report.