arm, arm64, xtensa, libxx: Change sed -r to sed -E to support macOS

When we build NuttX on macOS, it shows many `sed` messages (and the build still completes successfully):

```text
$ tools/configure.sh pinephone:nsh
$ make
sed: illegal option -- r
```

This is due to the Makefiles executing `sed -r` which is not a valid option on macOS.

This PR proposes to change `sed -r` to `sed -E` because:

- `sed -E` on macOS is equivalent to `sed -r` on Linux

- `sed -E` and `sed -r` are aliases according to the GNU `sed` Manual

- `sed -E` is already used in nuttx_add_romfs.cmake, nuttx_add_symtab.cmake and process_config.sh

arch/arm/src/common/Toolchain.defs

@@ -178,7 +178,7 @@ ifeq ($(CONFIG_ARM_TOOLCHAIN_CLANG),y)
 
   ifneq ($(TOOLCHAIN_CLANG_CONFIG),)
     ifeq ($(CLANGVER),)
-      export CLANGVER := $(shell $(CC) --version | grep "clang version" | sed -r "s/.* ([0-9]+\.[0-9]+).*/\1/")
+      export CLANGVER := $(shell $(CC) --version | grep "clang version" | sed -E "s/.* ([0-9]+\.[0-9]+).*/\1/")
     endif
 
     ifeq ($(CLANGVER),14.0)
@@ -257,7 +257,7 @@ else
   # https://gcc.gnu.org/bugzilla/show_bug.cgi?id=105523
 
   ifeq ($(GCCVER),)
-    export GCCVER := $(shell $(CC) --version | grep gcc | sed -r "s/.* ([0-9]+\.[0-9]+).*/\1/" | cut -d'.' -f1)
+    export GCCVER := $(shell $(CC) --version | grep gcc | sed -E "s/.* ([0-9]+\.[0-9]+).*/\1/" | cut -d'.' -f1)
   endif
 
   ifeq ($(GCCVER),12)

arch/arm64/src/Toolchain.defs

@@ -166,7 +166,7 @@ endif
 
 ifeq ($(CONFIG_ARCH_TOOLCHAIN_GNU),y)
   ifeq ($(GCCVER),)
-    export GCCVER := $(shell $(CC) --version | grep gcc | sed -r "s/.* ([0-9]+\.[0-9]+).*/\1/" | cut -d'.' -f1)
+    export GCCVER := $(shell $(CC) --version | grep gcc | sed -E "s/.* ([0-9]+\.[0-9]+).*/\1/" | cut -d'.' -f1)
   endif
 
   ifeq ($(GCCVER),12)

arch/xtensa/src/esp32/Make.defs

@@ -236,7 +236,7 @@ CHIP_CSRCS += esp32_wlan.c esp32_wifi_utils.c esp32_wifi_adapter.c
 EXTRA_LIBS += -lcore -lnet80211 -lpp -lsmartconfig -lespnow -lwpa_supplicant
 
 ifeq ($(GCCVER),)
-  export GCCVER := $(shell $(CC) --version | grep gcc | sed -r 's/.* ([0-9]+\.[0-9]+).*/\1/' | cut -d'.' -f1)
+  export GCCVER := $(shell $(CC) --version | grep gcc | sed -E 's/.* ([0-9]+\.[0-9]+).*/\1/' | cut -d'.' -f1)
 endif
 ifeq ($(GCCVER),12)
   chip/esp32_wifi_adapter.c_CFLAGS += -Wno-maybe-uninitialized

libs/libxx/libcxx.defs

@@ -79,7 +79,7 @@ libcxx/src/filesystem/operations.cpp_CXXFLAGS += -Wno-shadow
 #       |                                ^~~~~~
 
 ifeq ($(GCCVER),)
-  export GCCVER = $(shell $(CXX) --version | grep g++ | sed -r 's/.* ([0-9]+\.[0-9]+).*/\1/' | cut -d'.' -f1)
+  export GCCVER = $(shell $(CXX) --version | grep g++ | sed -E 's/.* ([0-9]+\.[0-9]+).*/\1/' | cut -d'.' -f1)
 endif
 
 ifeq ($(GCCVER),12)