[FL-3289] Various Furi/FuriHal bug fixes and improvements (#2637)

* Furi: properly handle thread free before TCB scrapping, add furi_free - more invasive version of free to memmgr. FuriHal: add DWT comparator api to cortex. Updater, RPC: refactor various thread shanenigans. Code cleanup.
* Rollback free macros and related changes

applications/services/loader/loader.c

@@ -248,6 +248,7 @@ static void loader_do_app_closed(Loader* loader) {
     free(loader->app.name);
     loader->app.name = NULL;
 
+    furi_thread_join(loader->app.thread);
     furi_thread_free(loader->app.thread);
     loader->app.thread = NULL;
 }