Update actions to use the built-in caching features in CI

[ethangardner]

This work was started in ticket #414 with the end-to-end tests. Many of our actions do manual caching. There is an easier way to manage the cache with the provided actions/setup-node package. This task is to move all the actions to use the built-in version so we have less to manage.

- name: Install node.js version
  uses: actions/setup-node@v4
  id: install-node
  with:
      node-version-file: '.nvmrc'
      cache: 'pnpm'
      cache-dependency-path: 'pnpm-lock.yaml'