ci: Use GITHUB_OUTPUT envvar instead of set-output command

[arunsathiya]

save-state and set-output commands used in GitHub Actions are deprecated and GitHub recommends using environment files.

This PR updates the usage of set-output to $GITHUB_OUTPUT

Instructions for envvar usage from GitHub docs:

https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#setting-an-output-parameter

[deniszh]

Hi @arunsathiya
Unfortunately, tests were broken. I fixed that and cherry-picked your commits in #580. Thanks for your contribution!
Closing this.