[opentitanlib,qemu] Add support for transfers in the USB opentitanlib backend
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Description
With the USB abstraction merged (https://github.com/lowRISC/opentitan/pull/28520) and when the USB host PR is merged (https://github.com/lowRISC/opentitan/pull/28831), we will have a fully functioning USB host for QEMU implemented in opentitanlib. However the USB backend does not yet expose the device.
- [ ] Expose the USB device with the backend
- [ ] Allow USB transfers from opentitanlib users
- [ ] Run an end-to-end test, for example the USB DFU rescue e2e
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