Upgrade actions to versions that run on node20

I saw we were getting lots of warnings in our CI jobs like:

The following actions uses Node.js version which is deprecated and will be forced to run on node20: actions/checkout@v3, actions/setup-go@v3, actions/cache@v3. For more info: https://github.blog/changelog/2024-03-07-github-actions-all-actions-will-run-on-node20-instead-of-node16-by-default/

This PR upgrades all actions to versions that run on node20, to make these warnings go away.

Upgrading actions/upload-artifact is additionally useful because actions/upload-artifact@v3 is set to be deprecated toward the end of this year.

No more warnings:

Actionlint: https://github.com/kolide/launcher/actions/runs/9844017555?pr=1771
Lint: https://github.com/kolide/launcher/actions/runs/9844017560?pr=1771
Go: https://github.com/kolide/launcher/actions/runs/9844017543?pr=1771

kolide / launcher

Upgrade actions to versions that run on node20 #1771