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This commit introduces a new feature to parse the MeshCoP service TXT data from a Border Agent. The new API `otBorderAgentTxtDataParse()` allows parsing the raw TXT data into a structured `otBorderAgentTxtDataInfo` object. This can be used by applications to inspect the capabilities and status of a discovered Border Agent. Config `OPENTHREAD_CONFIG_BORDER_AGENT_TXT_DATA_PARSER_ENABLE` controls this new feature. The existing test for the Border Agent is updated to validate the new parser and its output.