doc improvement: updates to the Using companion components page

[divipillai]

updates to the Using companion components page

[NordicBuilder]

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Build number: 9

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[NordicBuilder]

You can find the documentation preview for this PR at this link. It will be updated about 10 minutes after the documentation build succeeds.

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[pdunaj]

FYI @PaalKastnes , @faune

[greg-fer]

I would suggest a mention in the changelog for this update.