[CI] Bump GitHub Actions versions across workflows

[rlazo]

Updated several GitHub Actions to their latest versions across all workflow files since previous versions were using the deprecated node20 runtime.

• actions/checkout bumped from v4.2.2 to v6.0.2
• actions/setup-java bumped from v4.7.0 to v5.2.0
• google-github-actions/auth bumped from v2.1.8 to v3.0.0
• google-github-actions/setup-gcloud bumped from v2.1.4 to v3.0.1

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