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doc: update user guide with build instructions and dependency changes

Leandro Belli requested to merge lb/doc-userguide into main

This commit updates the user guide to reflect the use of Ubuntu 22.04 LTS and includes additional prerequisites such as libssl-dev and telnet. It also improves the build instructions by clarifying the use of Clang, setting LLVM_SYSROOT_CC to arm-none-eabi-gcc.

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