Test with Python 3.12

[ghisvail]

This PR enables testing by CI with Python 3.12.

I took this opportunity to enable caching of pip dependencies,
to save setup time and bandwidth.

It also drops exclusion of Python 3.11.1 from requires-python.

This is not a good practice as it can mess up with dependency
resolution for downstream projects depending on Pydra.

Instead, if such exclusion really is necessary, version guards
should be put in place where the specific feature impacted by
a regression in the language.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (69f27ad) 83.35% compared to head (646ac01) 79.26%.

❗ Current head 646ac01 differs from pull request most recent head bd8b733. Consider uploading reports for the commit bd8b733 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #730      +/-   ##
==========================================
- Coverage   83.35%   79.26%   -4.09%     
==========================================
  Files          24       24              
  Lines        4949     4949              
  Branches     1411     1411              
==========================================
- Hits         4125     3923     -202     
- Misses        816      830      +14     
- Partials        8      196     +188     

Flag	Coverage Δ
unittests	79.08% <ø> (-4.27%)	⬇️

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