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Improve UART input wait with coroutine yielding #891

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Run time

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Job	Run time
semu-macOS	15m 14s
semu-linux (libpulse-dev)	3m 28s
semu-linux (none)	3m 47s
semu-linux (libjack-jackd2-dev)	1m 44s
coding_style	21s
	24m 34s