refactor(mbedtls): remove mbedtls 2.x support

Deprecation notice was sent to the community and no objection was
raised, so removing mbedtls 2.x support.

Change-Id: Id3eb98b55692df98aabe6a7c5a5ec910222c8abd
Signed-off-by: Lauren Wehrmeister <lauren.wehrmeister@arm.com>
diff --git a/docs/about/release-information.rst b/docs/about/release-information.rst
index 654d65f..d814104 100644
--- a/docs/about/release-information.rst
+++ b/docs/about/release-information.rst
@@ -81,8 +81,6 @@
 |                                | Date        | after   |                                                         |
 |                                |             | Release |                                                         |
 +================================+=============+=========+=========================================================+
-| Mbedtls-2.x                    |     2.10    |   2.10  | Support for TF-A builds with Mbedtls-2.x will be removed|
-+--------------------------------+-------------+---------+---------------------------------------------------------+
 | STM32MP15_OPTEE_RSV_SHM        |     2.10    |   3.0   | OP-TEE manages its own memory on STM32MP15              |
 +--------------------------------+-------------+---------+---------------------------------------------------------+
 
@@ -103,4 +101,4 @@
 
 --------------
 
-*Copyright (c) 2018-2023, Arm Limited and Contributors. All rights reserved.*
+*Copyright (c) 2018-2024, Arm Limited and Contributors. All rights reserved.*