Update CI runner versions from Node 16 to 20. (#3872)

.github/actions/setup-base/action.yml

@@ -5,7 +5,7 @@ runs:
   using: "composite"
   steps:
     - name: Checkout code
-      uses: actions/checkout@v3
+      uses: actions/checkout@v4
       with:
         submodules: "recursive"
         ref: ${{github.event.pull_request.head.ref}}
@@ -30,12 +30,12 @@ runs:
         sudo apt-get install -y libyaml-cpp-dev
 
     - name: Setup Python
-      uses: actions/setup-python@v4
+      uses: actions/setup-python@v5
       with:
         python-version: 3.x
 
     - name: Cache python libs
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       id: cache-pip # needed in if test
       with:
         path: ~/.cache/pip