chore: matrix testing pre-existing k3d clusters

Description

Cleanup some of our GitHub Actions, and run (some of?) our e2e tests in a matrix where one scenario we have k3d installed and a cluster created, and another with k3d installed and no cluster created.

Note about our setup-golang action: I noticed that we were using setup-go to install go 1.21.x, however the setup-go action does not list the .x syntax as supported. Furthermore our go.mod file says go 1.22.4, so the setup go action was setting 1.21.x, and then immediately switching to go 1.22.4 because that's what our go.mod says. The result was a long list of errors trying to use 1.22 because it was being pulled from cache but conflicted with the 1.21 we just setup.

See here for example: https://github.com/defenseunicorns/uds-cli/actions/runs/11037302233/job/30657907519#step:3:102

Note about our setup-from-previous action: I noticed that every invocation was preceded by a checkout action, and the first step of setup-from-previous was also a checkout.

See here and here for example of trying to checkout the repo 2x in the same job

Related Issue

Fixes #940

Type of change

[x] Bug fix (non-breaking change which fixes an issue)
[ ] New feature (non-breaking change which adds functionality)
[x] Other (security config, docs update, etc)

Checklist before merging

[x] Test, docs, adr added or updated as needed
[x] Contributor Guide Steps followed

defenseunicorns / uds-cli