Convert hashicorp/waypoint-helm to GitHub Actions

[hc-github-team-es-release-engineering]

Pipeline migrated from CircleCI :tada:

Manual steps

Please perform the following steps to complete the migration:

hashicorp/vault-helm/update-helm-charts-index

• [x] Ensure environment variable is updated here: HELM_CHARTS_GITHUB_TOKEN
• [x] Ensure environment variable is updated here: SLACK_WEBHOOK

[hashicorp-cla]

Thank you for your submission! We require that all contributors sign our Contributor License Agreement ("CLA") before we can accept the contribution. Read and sign the agreement

Learn more about why HashiCorp requires a CLA and what the CLA includes

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3 out of 4 committers have signed the CLA.

• [x] hc-github-team-es-release-engineering
• [x] dekimsey
• [x] catsby
• [ ] emilyneil

_{Have you signed the CLA already but the status is still pending? Recheck it.}

[emilymianeil]

Dry run without publishing helm charts to verify inputs are correct: https://github.com/hashicorp/waypoint-helm/actions/runs/4577019417/jobs/8081917258