SDK-2883 Use golang-jwt/jwt/v4

[sergiught]

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Description

In this PR we:

• bump golang-jwt/jwt to v4
• reorganize imports across the project
• update github actions to use go v1.17

Checklist

• [x] I have added documentation for new/changed functionality in this PR or in auth0.com/docs
• [x] All active GitHub checks for tests, formatting, and security are passing
• [x] The correct base branch is being used, if not master

[codecov-commenter]

Codecov Report

:exclamation: No coverage uploaded for pull request base (v2@6401fcf). Click here to learn what that means. The diff coverage is n/a.

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  Hits          ?      154           
  Misses        ?       19           
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