Reuse the cache in `build-and-test-daily` workflow too

[xmfcx]

Checklist

• [X] I've read the contribution guidelines.
• [X] I've searched other issues and no duplicate issues were found.
• [X] I've agreed with the maintainers that I can plan this task.

Description

Continuation from:

• https://github.com/autowarefoundation/autoware.universe/issues/7501

Related:

• https://github.com/autowarefoundation/autoware.universe/issues/7537

This is a daily scheduled job.

It can reuse the same cache by just restoring it.

Purpose

Obvious.

Possible approaches

Obvious.

Definition of done

Obvious.

[stale[bot]]

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