chore: Replace deprecated command with environment file

[jongwooo]

What change does this PR introduce?

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

echo "::set-output name=IMAGE::ghcr.io/$REGISTRY_OWNER/$DOCKER_NAME:$IMAGE_TAG"

TO-BE

echo "IMAGE=ghcr.io/$REGISTRY_OWNER/$DOCKER_NAME:$IMAGE_TAG" >> $GITHUB_OUTPUT

Why was this change needed?

Closes #4207

Other information (Screenshots)

None

[p-fernandez]

🌟 Thank you for your contribution.

A future improvement is to be able to reuse some of these variables generated inside of the YML files. But this is a great start and keeps us up to date with the GitHub actions changes.