clang-format: Update to 16

[FintasticMan]

As discussed in #2127.
I've also updated the clang-format options to be compatible, and sorted the options.

[github-actions]

Build size and comparison to main:

Section	Size	Difference
text	374512B	-16B
data	948B	0B
bss	63488B	0B

[FintasticMan]

Sorry for the force push spam 😅. GitHub doesn't have an easy way to test CI locally, so I just did it in this PR. The failing clang-tidy test is because the infinitime-build container still uses Ubuntu 22.04. I think the reason we use the docker container in that check is to generate the compile_commands.json file that clang-tidy uses. Should I also update the docker container in this PR?

[mark9064]

Yeah may as well do it all in one go I think, it makes sense to do the upgrade atomically

[FintasticMan]

I've actually just thought that we don't necessarily need to update clang-tidy at the same time as clang-format, they don't interact at all. I might just revert the clang-tidy version bump and keep this PR to only updating clang-format.