chore: Migrate more rake tasks to toys

[dazuma]

Includes:

• Updated Gemfile.lock files
• Updated Ruby versions for CI
• Consolidated logic for regenerating binary proto input and golden outputs into the toys scripts in the shared directory
• Support common Toys tools (e.g. test, etc.) in all gem directories
• Fixed a few rubocop errors caught by newer versions of rubocop.

Deferred until follow-up PRs:

• Removing the old Rakefiles
• Regenerating shared input and output files from the latest protos
• Output tests are currently disabled for wrappers—need a directory structure fix to re-enable
• Readme needs to be updated