update GH actions that are deprecated in our workflows 

```
Your workflow is using a version of actions/cache that is scheduled for deprecation, actions/cache@v2. 
Please update your workflow to use the latest version of actions/cache to avoid interruptions. 
Learn more: 
https://github.blog/changelog/2024-09-16-notice-of-upcoming-deprecations-and-changes-in-github-actions-services/
```

