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tools/ci.sh: Upgrade Zephyr docker image to v0.21.0.
As a prerequisite to upgrading to Zephyr v2.7.0, upgrade CI to use Zephyr docker image v0.21.0. In particular, this is needed to pick up a newer CMake version because Zephyr v2.7.0 increased the minimum CMake version required to 3.20.0. Signed-off-by: Maureen Helm <maureen.helm@intel.com>
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