configs: am65x_evm_a53: Enable PCA953X-type GPIO driver

Enable GPIO driver for PCA953X-compatible I2C-based I/O expander
which includes support for the TCA9554/PCA9554-type expander found
on the AM654 EVM base board.

Signed-off-by: Andreas Dannenberg <dannenberg@ti.com>
Reviewed-by: Lokesh Vutla <lokeshvutla@ti.com>