Implement multi-runner image build for multi-arch improvements

[FoxxMD]

Checklist before requesting a review

• I have read the contributing guidelines.

Type of change

Please delete options that are not relevant.

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• This change requires a documentation update

Describe your changes

• Refactor publish workflow to use multiple runners for bare-metal cross-arch image builds instead of using QEMU emulation
• Remove QEMU steps to use bare-metal
  • Somewhat blocked by required release of ARM runners for public use
    • ARM hosted runners for OSS/free plans [Public Preview] github/roadmap#970
    • Make ARM64 Windows and Linux runner images available for free actions/runner-images#10820
    • https://github.com/orgs/community/discussions/142209#discussioncomment-11107737
  • Until this is unblocked we need to keep QEMU step so performance is same as current build workflows
• Refactor publish workflow to use repository vars for registries to push to instead of hardcoding
  • Makes it easier for other users to fork and publish easily by only adding repo vars/secrets
• Refactor PR workflow with all of the above changes as well