[Release Scripts] Fix changelog formatting and bump checkout/setup-node github action versions

[varadarajan-tw]

This PR makes some general improvements to scripts used in release.

The changes include

• Table formatting issue in release/changelog description. Some git commits contain | breaking the markdown. table rendering of changelog. This PR title had a | that broke the table formatting.
  Eg;

• Updates checkout and setup-node actions to use the latest v4 version. v3 uses node 16 and it'll be deprecated soon by github actions runtime. The release notes (checkout and setup-node) of these github actions indicate that there were no major changes.
  Warning message from CI
  

Testing

Testing complete successfully in local and via CI.

• The checkout v4 and setup-node v4 steps succeeded in the current PR