Update Github Action versions in the CI/CD pipelines

[mmerklinger]

This PR updates the following Github Actions in the CI/CD pipelines.

• actions/checkout@3 -> actions/checkout@4
• actions/upload-artifact@3 -> actions/upload-artifact@4
• actions/download-artifact@3 -> actions/download-artifact@4
• softprops/action-gh-release@1 -> softprops/action-gh-release@v2

Changes

• The update brings no change in the use of the pipelines, but the deprecation warnings are gone now.

Checklist

Make sure to run make check and make fix before creating a PR, otherwise the CI will fail.

• tested with Python3.9
• signed commits
• updated documentation (e.g. parameter description, inline doc, docs.nitrokey)
• added labels

Test Environment and Execution

• OS:
• device's model:
• device's firmware version:

Relevant Output Example

Fixes #