Bump versions of Github actions to versions using Node 20 (backport #4116) (#4118)

* Bump versions of Github actions to versions using Node 20 (#4116)

Node 16 is deprecated and will eventually stop being supported.

(cherry picked from commit 99aa9f1e)

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

* Resolve backport conflicts

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