Update CI for latest actions and to use matrix

[luispadron]

Updates GitHub CI to make it easier to add more Bazel/Xcode Versions.

Changes:

• Update checkout and upload-artifacts actions to v4, this fixes warnings we get on every PR for deprecated Node versions
• Add matrix strategy for all jobs, this adds a bazel_version and xcode_version which each job will be configured to run against. We can add Bazel 7 once #795 is done.
• Merge the --config=vfs and non-vfs job, this can be set with a custom matrix without duplicating the job code.
• Remove --remote-cache flag, this was set by every job already.

Example:

[luispadron]

If this is approved i'll update the required jobs to use these new ones in the settings