chore: Update CI and release workflows

[philjhale]

Description

• Update deprecated set-output command. This will stop working in June 2023. See this post.
• Update actions to use Node 16 rather than Node 12. Github are currently migrating away from Node 12. See this post.
• GabrielBB/xvfb-action is no longer maintained and there is no Node 16 version. Therefore it was replaced with coactions/setup-xvfb.

I've also opened a PR to update the workflow templates #8214

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[codecov]

Codecov Report

Merging #8214 (b25e06f) into main (c1a1f9c) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##             main    #8214   +/-   ##
=======================================
  Coverage   82.11%   82.11%           
=======================================
  Files         112      112           
  Lines        7402     7402           
  Branches     1785     1785           
=======================================
  Hits         6078     6078           
  Misses       1324     1324           

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[welcome]

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