CI: Improve and update GitHub actions workflows

[sblauth]

This PR adds two changes:

• It adds trusted publishing for PyPI in the publish.yml workflow
• It upgrades some actions to use environment files instead of the deprecated "set-output" command

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (e644369) 92.29% compared to head (57621a2) 92.29%.

Additional details and impacted files

@@           Coverage Diff           @@
##             main     #363   +/-   ##
=======================================
  Coverage   92.29%   92.29%           
=======================================
  Files          84       84           
  Lines        6642     6642           
=======================================
  Hits         6130     6130           
  Misses        512      512           

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