[riot-notifications] [RIOT-OS/RIOT] .murdock: run Kconfig compilation first when needed (#15419)

[Leandro Lanzieri]

### Contribution description
This changes the CI script to compile with Kconfig first (when needed) and run the tests with the normal binary. This avoids having to test the `TEST_KCONFIG` flag during the test stage, and follows the previous behaviour.

### Testing procedure
Green CI

### Issues/PRs references
None

You can view, comment on, or merge this pull request online at:

  https://github.com/RIOT-OS/RIOT/pull/15419

-- Commit Summary --

  * .murdock: run Kconfig compilation first when needed

-- File Changes --

    M .murdock (59)

-- Patch Links --

https://github.com/RIOT-OS/RIOT/pull/15419.patch
https://github.com/RIOT-OS/RIOT/pull/15419.diff

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