Fix GitHub actions warnings

[robgee86]

Motivation

This PR fixes some deprecation warnings that are being returned when GitHub actions are run, e.g.:

The set-output command is deprecated and will be disabled soon.

Node.js 12 actions are deprecated.

Change description

• Replaced set-output command with its new counterpart
• Updated checkout action from v2 to v3
• Updated setup-go action from v2 to v3

Additional Notes

N/A

Reviewer checklist

• PR address a single concern.
• PR title and description are properly filled.
• Changes will be merged in main.
• Changes are covered by tests.
• Logging is meaningful in case of troubleshooting.
• History is clean, commit messages are meaningful (see CONTRIBUTING.md) and are well formatted.

[CLAassistant]

All committers have signed the CLA.