[CI] Upgrade Self-Hosted Runners Actions

Upgraded the self-hosted runners actions to their most recent versions.
Specifically, the upload-artifact action will fully deprecate soon and
needs to be upgraded.

These upgrades require Node 20 to work. The self-hosted runners do not
have Node 20 installed by default for their image of Ubuntu (unlike the
GitHub-hosted runners), therefore Node20 needs to be installed using
another action for the self-hosted jobs.

Author: AlexandreSinger

.github/workflows/test.yml

@@ -75,10 +75,17 @@ jobs:
 
       # TODO: This runnner is running on a self-hosted CPU. In order to upgrade
       #       to v4, need to upgrade the machine to support node20.
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
       with:
         submodules: 'true'
 
+      # Node 20 is required for recent versions of the upload artifacts action.
+      # This may not be required once we upgrade to Ubuntu 24.04
+    - uses: actions/setup-node@v4
+      with:
+        node-version: 20
+        cache: 'npm'
+
     - name: Setup
       run: stdbuf -i0 -i0 -e0 ./.github/scripts/hostsetup.sh
 
@@ -102,7 +109,7 @@ jobs:
       if: ${{ !cancelled() }}
       # TODO: This runnner is running on a self-hosted CPU. In order to upgrade
       #       to v4, need to upgrade the machine to support node20.
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v4
       with:
         name: ${{matrix.test}}_test_results
         path: |