upgrade GitHub Action versions

upgrade the GitHub actions to the latest version in order to remove the warnings:

build
The following actions uses node12 which is deprecated and will be forced to run on node16: actions/cache@v2. For more info: https://github.blog/changelog/2023-06-13-github-actions-all-actions-will-run-on-node16-instead-of-node12-by-default/

build
The `set-output` command is deprecated and will be disabled soon. Please upgrade to using Environment Files. For more information see: https://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/

Start with the build GitHub Actions workflow and search for actions/cache@v2 and uses of the deprecated set-output command. Done means the relevant action versions and output handling are upgraded and the reported deprecation warnings no longer appear.

Written by the indexing model from the issue text.