[ci] Update github caching to be more similar to drake-blender #936
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The following actions uses node12 which is deprecated and will be forced to run on node16: actions/checkout@v2, ros-tooling/[email protected], ros-tooling/[email protected]. For more info: https://github.blog/changelog/2023-06-13-github-actions-all-actions-will-run-on-node16-instead-of-node12-by-default/
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The `set-output` command is deprecated and will be disabled soon. Please upgrade to using Environment Files. For more information see: https://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/
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