Update GitHub Actions Workflows

[frogamic]

Update step output of pip-cache

Workflow commands via echo are now deprecated in favour of writing to special files instead.

Change python versions to test against:

• Remove Python 3.7 which is now EOL
• Add Python 3.12 which is latest release version
  • Python 3.12 tests will fail until #1710 is merged.

Update all outdated GitHub Actions:

• actions/checkout v3 -> v4
  • Update action runtime to Node 20
• actions/setup-python v4 -> v5
  • Update action runtime to Node 20
• actions/upload-artifact v3 -> v4
  • Update action runtime to Node 20
  • Action now errors on duplicate artifacts so add OS name to test output artifacts
• actions/cache v3 -> v4
  • Update action runtime to Node 20
• github/codeql-action v2 -> v3
  • Update action runtime to Node 20