Use caches or prebuilt docker images in Github actions

[hanefi]

We have redundant steps in our workflow definitions. Some of those steps include:

• installing tools repo from a tag
• installing apt packages
• installing python dependencies
• setting git credentials

Currently we have many workflow definitions in different branches in different repos. If we want to update a dependency, we need to touch many places.

I suggest we use a shared cache, or a unified docker image for our packaging automation that will deduplicate our efforts.

[hanefi]

For example #734 needs to be fixed in many branches across several repos. This is not really easy to maintain as it is today.