This commit updates twai_driver_install() so that an error is returned when
esp_intr_alloc() fails, instead of aborting.
Closes https://github.com/espressif/esp-idf/pull/11494
[darian@espressif.com: Refactored object allocation and free procedures]
[darian@espressif.com: Updated commit message]
Signed-off-by: Darian Leung <darian@espressif.com>