[CI] Update Github Actions (backport #2876) (#2877)

* [ci] Update Github Actions (#2876)

* Switch from deprecated setup-scala to setup-java
* Switch from deprecated set-output to $GITHUB_OUTPUT
* Use $GITHUB_STEP_SUMMARY for reporting

(cherry picked from commit b01dd3cb

)

# Conflicts:
#	.github/workflows/test.yml

* Resolve backport conflicts

Co-authored-by: Jack Koenig <koenig@sifive.com>