Update GitHub actions

[vlasebian]

Summary

Update GitHub actions. References #1451.

Screenshots

N/A

Changes

• Remove deprecated set-output statement
• Update version of actions
• Add extra checks for step outputs
• Add permissions
• Update node version
• Pick up golang version from go.mod instead of hardcoding it into the action

Notes for Reviewers

None.

Checklist

• Scope: The referenced issue is addressed, there are no unrelated changes.
• Run Locally: Verified that the docs build using make server, posted screenshots, verified external links. Test with HUGO_PARAMS_SEARCH_ENABLED=true if style changes will affect the search bar.
• New Features Marked: Documentation for new features is marked using the new-in-version shortcode, according to the guidelines in CONTRIBUTING.
• Style Guidelines: Documentation obeys style guidelines in CONTRIBUTING.
• Commits: Commit messages follow guidelines in CONTRIBUTING, there are no fixup commits left.

[vlasebian]

@happyRip could you take a look at this?

[happyRip]

LGTM, I'd add annotations where applicable