Update GitHub Actions CI packages and command

[austinvazquez]

Issue

N/A

Description

This change updates GitHub Actions packages actions/checkout to v4, actions/setup-go to v5, and actions/upload-artifacts to v4 to resolve NodeJS 16 deprecation warnings. It also updates GitHub Actions set-output command which is also deprecated.

Testing

CI passes without deprecation warnings

Additional references

• https://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/
• https://github.blog/changelog/2023-09-22-github-actions-transitioning-from-node-16-to-node-20/

[austinvazquez]

Need to verify changes to release workflow. Will try to have an update by 2/13.