There's a zero-config way to achieve this at mheap/phpunit-matcher-action
This is a PHPUnit printer that uses the ::error and ::warning functionality of GitHub Actions to add annotiations for failing test runs. It's main differentiator to the above is that it supports adding warnings in addition to errors.
If you're interested in learning more about GitHub Actions, sign up here
Add this printer to your project
composer require --dev mheap/phpunit-github-actions-printerWhen you run your tests, specify mheap\GithubActionsReporter\Printer as the printer to use
./vendor/bin/phpunit --printer mheap\\GithubActionsReporter\\Printer /path/to/tests