ZOOKEEPER-5027: Upgrade deprecated GitHub Actions versions #3039

Job	Run time
mvn (full-build-java-tests, 11, -Pfull-build verify -Dsurefire-forkcount=1 -DskipCppUnit -Dsurefi...	1h 8m 55s
mvn (full-build-cppunit-tests, 11, -Pfull-build verify -Dtest=_ -DfailIfNoTests=false)	11m 17s
mvn (full-build-jdk11, 11, -Pfull-build apache-rat:check verify -DskipTests spotbugs:check checks...	3m 35s
mvn (full-build-jdk8, 8, -Pfull-build apache-rat:check verify -DskipTests spotbugs:check checksty...	2m 52s
	1h 26m 39s

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