doc: update requirements
doc: update requirements

Update to Sphinx 5.x, also update breathe since version 4.34 is the
first to officially support Sphinx 5.x.

Signed-off-by: Gerard Marull-Paretas <bedb45f43a286e49f4dcda039a436b216ae61ef3@nordicsemi.no>

zephyrproject-rtos/zephyr,zephyrproject-rtos/zephyr,finikorg/zephyr,zephyrproject-rtos/zephyr,finikorg/zephyr,finikorg/zephyr,zephyrproject-rtos/zephyr,zephyrproject-rtos/zephyr,galak/zephyr,galak/zephyr,galak/zephyr,galak/zephyr,finikorg/zephyr,galak/zephyr,finikorg/zephyr