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feat: add caching and clippy annotations to CI (#3518)
* Adds caching to the standard CI flow; this should drastically reduce build times when pushing small fixes to PRs by 90% or more. * Introduce clippy-check that puts annotations in the PR for identifying clippy warnings. * The motivation for this is that recent changes to clippy make warnings into hard errors, which shouldn't break an entire PR build (e.g. `missing impl Default` warning). * Fixing clippy errors are always "Good first issues", and having annotations in the code makes it clear where first-time contributors need to focus.
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