Clean up github actions

[shukitchan]

Update all actions to use the following

actions/checkout@v4 actions/setup-go@v5

And stop using set-output command - see https://hynek.me/til/set-output-deprecation-github-actions/

Upgrade codeql action to v3 - https://github.blog/changelog/2024-01-12-code-scanning-deprecation-of-codeql-action-v2/