chore: backport upgrade/ci changes for v20

[gartnera]

Should get the mainnet upgrade tests passing again

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[lumtis]

Can we rename the PR to make it more distinguishable with other backport PRs?

[fbac]

Not high prio but, should we include #2850 here?

[gartnera]

Not high prio but, should we include #2850 here?

I think the precompiled contract stuff is targeted for v21 right?