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[Backport v3.7.99-ncs1-branch] [nrf fromtree] doc: ipc: Add detailed protocol specs for ICMsg #46

[Backport v3.7.99-ncs1-branch] [nrf fromtree] doc: ipc: Add detailed protocol specs for ICMsg

[Backport v3.7.99-ncs1-branch] [nrf fromtree] doc: ipc: Add detailed protocol specs for ICMsg #46