refactor(ci): bump actions and remove explicit cache steps

[yin1999]

What is the purpose of the change

refactor the ci test workflow, as the actions and steps may out of date.

Brief changelog

• remove explicit cache steps, as the new version of setup-go tries to enable caching unless the cache input is explicitly set to false (https://github.com/actions/setup-go/tree/main#v4)
• setup go with the version set in go.mod, the feature is supported by setup-go
• Use go mod download to download go modules given in go.mod into go caches (https://go.dev/ref/mod#go-mod-download).

[codecov-commenter]

Codecov Report

Merging #30 (96ad5b2) into master (c1d061f) will not change coverage.
The diff coverage is n/a.

❗ Current head 96ad5b2 differs from pull request most recent head ecbd7de. Consider uploading reports for the commit ecbd7de to get more accurate results

@@           Coverage Diff           @@
##           master      #30   +/-   ##
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  Coverage   47.46%   47.46%           
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  Files         150      150           
  Lines        9765     9765           
  Branches       41       41           
=======================================
  Hits         4635     4635           
  Misses       4600     4600           
  Partials      530      530           

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