Optimize CI workflow

[embano1]

Issue #, if available: n/a

Description of changes:

• Replaces adopt with temurin due to [1]
• Use matrix strategy testing to simplify the workflow file and allow for extensibility (easily add Java and OS versions)
• Also test against Java 11 (throws warnings due to 1.8 setting in pom.xml - nothing to worry, unless we want to change the configuration to avoid those)
• Log maven errors with --errors
• Uses caching for dependencies to speed up decrease execution times
• Uses concurrency setting to cancel running workflows when new commits are pushed to the PR (reduce usage/resource waste)
• Explicitly define permissions for the workflow to reduce attack surface ({} i.e. none)

[1]

NOTE: AdoptOpenJDK got moved to Eclipse Temurin and won't be updated anymore. It is highly recommended to migrate workflows from adopt and adopt-openj9, to temurin and semeru respectively, to keep receiving software and security updates. See more details in the Good-bye AdoptOpenJDK post.

Source: https://github.com/actions/setup-java

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By submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 license.

[baldawar]

LGTM @embano1 . Let me know if you'd like me to merge this or hold on for JDK 17 support as well.