board: ti: j721e: Add support for both esm probe

At present only MCU domain ESM is probed, this means errors
occurred in mcu domain will be propagate to MCU_SAFETY_ERRORn.
MCU ESM accepts SOC_SAFETY_ERRORn signal as Error
event and propagate to MCU_SAFETY_ERRORn.[0]

Therefore adding support to probe both main domain and mcu
domain ESM.

[0]: https://www.ti.com/lit/zip/spruil1


spruil1c.pdf from zip
Figure 12-1244. ESM Modules Overview

Signed-off-by: Udit Kumar <u-kumar1@ti.com>
Reviewed-by: Keerthy <j-keerthy@ti.com>