Create PULL_REQUEST_TEMPLATE.md

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# Description
<!-- Please include a summary of the changes and the related issue. Please also include context and any dependencies required for this change. -->
## Type of change
- [ ] Bug fix (non-breaking change which fixes an issue)
- [ ] New feature (non-breaking change which adds functionality)
- [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
- [ ] This change requires a documentation update
# How Has This Been Tested?
<!-- Please describe the tests that you ran to verify your changes. Provide instructions so we can reproduce. Please also list any relevant details for your test configuration -->
**Test Configuration**:
* Firmware version:
* Hardware:
* Toolchain:
* SDK:
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