Herkuklex Serial Servo Support

**Describe the problem you have/What new integration you would like**
Herkulex serial servo support offers vast improvement over PWM servos that offer no feedback/configuration. They have rich Arduino support which should *hopefully* make this a porting effort.

https://robottini.altervista.org/dongbu-herkulex-arduino-library-2

**Please describe your use case for this integration and alternatives you've tried:**
Any use-case that requires precise servo movement! Radar directed servo --> https://imgur.com/a/F8CMBt8

**Additional context**
Having all the feedback and configuration parameters supported would be great. As someone w/ negligible C++ skills, the understanding of the ESPHome API is far beyond my ability to copy/paste code and compile 39 times before it works :)

Start by reading the linked Dongbu Herkulex Arduino library and the ESPHome API documentation to determine how the serial protocol and integration model fit together. Done would mean supporting the requested Herkulex servo feedback and configuration parameters, but the issue does not identify project files or tests.

Written by the indexing model from the issue text.