Update GH Actions in Workflows to Node 20

[Mythicaeda]

Sister PR of https://github.com/NASA-AMMOS/aerie/pull/1339.

Updates all actions to use their Node 20 versions.

Combined the Test Result upload steps into a single steps to avoid the breaking change in upload-artifact.

Unlike in the main Aerie repo, no change had to be made to Security Scan's upload process since it only scans one language.

Successful Workflow Runs for Verification:

• [x] Publish
• [x] Lint
• [x] Test
• [x] Security Scan