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ci: upgrade actions to use node 20 (#209)
## Summary Node 16 is EOL, upgrade action versions to use node 20 ## Release Notes * actions/checkout v3 -> v4: https://github.com/actions/checkout/releases/tag/v4.0.0 * actions/setup-node v3 -> v4: https://github.com/actions/setup-node/releases/tag/v4.0.0
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