Replace deprecated command with environment file

[jongwooo]

Description

Closes #301

Update workflows to use environment file instead of deprecated set-output command.
For more information, see: https://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/

I found the workflow files that use set-output command through the following command:

$ find . -name '*.yml' -o -name '*.yaml' | xargs egrep '\bset-output\b'

AS-IS

- name: Setup Cache variables
  id: go-cache-paths
  run: |
    echo "::set-output name=go-build::${{ env.GOCACHE }}"
    echo "::set-output name=go-mod::${{ env.GOMODCACHE }}"

TO-BE

- name: Setup Cache variables
  id: go-cache-paths
  shell: bash
  run: |
    echo "go-build=${{ env.GOCACHE }}" >> $GITHUB_OUTPUT
    echo "go-mod=${{ env.GOMODCACHE }}" >> $GITHUB_OUTPUT

[bmsiegel]

This PR ran successfully on my local branch, running testing to make sure nothing is being mutated in the source code, then will merge

[jetstack-bot]

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