Refactor module caching in GitHub Actions workflows

[cPu1]

Most workflows are currently using actions/setup-go to set up a Go environment and actions/cache to cache and restore Go modules. actions/setup-go, however, has built-in support for module caching and is enabled by default. This can be leveraged to remove usage of actions/cache but care must be exercised to ensure the module cache is built with a consistent key.

[github-actions]

This issue is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.

[github-actions]

This issue was closed because it has been stalled for 5 days with no activity.