tools: run doctool tests on GitHub Actions CI

PR-URL: https://github.com/nodejs/node/pull/37398


Reviewed-By: Darshan Sen <raisinten@gmail.com>
Reviewed-By: Richard Lau <rlau@redhat.com>
Reviewed-By: Rich Trott <rtrott@gmail.com>
Reviewed-By: Zijian Liu <lxxyxzj@gmail.com>
Reviewed-By: James M Snell <jasnell@gmail.com>