Update actions/setup-node and actions/checkout since Node 16 is deprecated

[cheyer]

Problem
Every time any github action run we get following warning:

Node.js 16 actions are deprecated. Please update the following actions to use Node.js 20: actions/checkout@v3, actions/setup-node@v3. For more information see: https://github.blog/changelog/2023-09-22-github-actions-transitioning-from-node-16-to-node-20/.

We should update these actions to benefit from the new versions and security patches.

Acceptance Criteria

• replace actions/checkout@v3 with actions/checkout@v4
• replace actions/setup-node@v3 with actions/setup-node@v4

Questions
Should we also update from node 18 to node 20?

References

• https://github.com/actions/checkout
• https://github.com/actions/setup-node