Optimize CI/CD steps

[lingnoi]

Description

Optimize execution time CI/CD steps by for instance, reusing builds from previous build steps, etc.

Goals

All CI/CD steps is executed only once for example, build executable for running utests, stests only once.

Final result

Summary

To be filled when the final solution is sketched.

Tasks

• [ ] For CI/CD, ensure to run only steps for PR verification
• [ ] For CI/CD, ensure not to run the same steps multiple times