Use caches or prebuilt docker images in Github actions

We have redundant steps in our workflow definitions. Some of those steps include:
- installing tools repo from a tag
- installing apt packages
- installing python dependencies
- setting git credentials

Currently we have many workflow definitions in different branches in different repos. If we want to update a dependency, we need to touch many places.

I suggest we use a shared cache, or a unified docker image for our packaging automation that will deduplicate our efforts.