Migrate ci pipeline to GitHub actions

[carpasse]

Agreed to migrate to GH actions in https://github.com/expressjs/discussions/issues/229

The new ci action and README.md changes are based on the respective files in on-headers repository

[carpasse]

Not sure why the build failed to run. It works on my fork https://github.com/carpasse/basic-auth/actions/runs/9074203811

[UlisesGascon]

I will trigger the CI manually :)