GitHub Actions Node 16 to Node 20 migration

[dereknola]

Is your feature request related to a problem? Please describe.

With https://github.blog/changelog/2023-09-22-github-actions-transitioning-from-node-16-to-node-20/, as of Spring 2024, node 16 based actions will be removed.

Describe the solution you'd like

While our master branch is in good shape, we need to migrate our older release branches to new actions as well.

Additional Info
As there is nothing to QA, I am going to attach multiple PRs to this issue, then close it once they are all merged.