The compilation option MBEDTLS_OID_C no longer exists. OID tables are included in the build automatically as needed for parsing and writing X.509 data.
Mbed TLS no longer offers interfaces to look up values by OID or OID by enum values (mbedtls_oid_get_<thing>() and mbedtls_oid_get_oid_by_<thing>()).
The header <mbedtls/oid.h> now only provides functions to convert between binary and dotted string OID representations. These functions are now part of libmbedx509 rather than the crypto library. The function mbedtls_oid_get_numeric_string() is guarded by MBEDTLS_X509_USE_C, and mbedtls_oid_from_numeric_string() by MBEDTLS_X509_CREATE_C. The header also still defines macros for OID strings that are relevant to X.509.