Add CI cache on self-hosted runner

Usage related changes

N/A

Reduces CI time by caching build dependencies locally in our self-hosted runners.

[x] Checked out the contribution guidelines
[x] Applied formatting - ./scripts/format.sh
[x] No linter errors - ./scripts/clippy_check.sh
[x] No unused dependencies - ./scripts/check_unused_deps.sh
[x] No spelling errors - ./scripts/check_spelling.sh
[x] Performed code self-review
[x] Rebased to the latest commit of the target branch (or merged it into my branch)
- Once you make the PR reviewable, please prefer merging over rebasing
[x] Updated the docs if needed - ./website/README.md
[x] Linked the issues resolvable by this PR - linking info
[x] Updated the tests if needed; all passing - execution info