[github] update actions and make tweaks

- Update the GitHub workflow actions to their latest versions.
- Use the latest Node.js LTS release.
- Use the latest Ubuntu version for consistency across all workflows.
- The `set-output` command is deprecated and will soon be disabled (https://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/) so use the new recommended way.
- Use the `$()` expressions for string interpolation instead of the deprecated backticks in Bash.
- Format the YAML files.

Differential Revision: https://reviews.llvm.org/D143015