Makefile: add support for top-level parallel make

To be able to use top-level parallel make we must not depend in a rule
on the order of evaluation of the prerequisites, so instead of relyng on
the left to right ordering of evaluation of the prerequisites add an
explicit rule to describe the dependencies.

Add explicit rules to describe the following dependency chain:
$(TARGETS) -> target-finalize -> rootfs-* -> target-post-image

Signed-off-by: Fabio Porcedda <fabio.porcedda@gmail.com>
Acked-by: Arnout Vandecappelle (Essensium/Mind) <arnout@mind.be>
Signed-off-by: Peter Korsgaard <peter@korsgaard.com>