west.yml: update zephyr to 5bef4a9d626 #21334

Job	Run time
manifest-check	53s
LP64-WIP	3m 35s
build-linux (mnfst, mtl lnl)	5m 41s
build-linux (zmain, imx8 imx8x imx8m imx8ulp)	6m 18s
build-windows (mtl lnl)	11m 38s
build-windows (tgl tgl-h)	10m 50s
build-windows (ptl)	8m 57s
build-linux (zmain, tgl tgl-h)	4m 55s
build-linux (zmain, mtl lnl)	5m 44s
build-linux (-d, mnfst, lnl)	4m 29s
build-windows (-d, lnl)	8m 53s
build-linux (mnfst, imx8 imx8x imx8m imx8ulp)	6m 34s
build-linux (mnfst, ptl)	4m 33s
build-windows (imx8 imx8x imx8m imx8ulp)	14m 4s
build-linux (mnfst, --all)	16m 42s
build-linux (zmain, ptl)	4m 17s
build-linux (mnfst, tgl tgl-h)	5m 27s
compare-linux-win	2m 0s
	2h 5m 30s

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