chore(ci): update ci config

[tottoto]

Backports CI improvements.

• chore(ci): Update to actions/checkout@v4 #3308
• chore(ci): replace unmaintained actions-rs/toolchain action #3096
• chore(ci): use cargo-hack --no-dev-deps option to check without dev-dependencies #3342
• chore(ci): replace actions-rs with run and use taiki-e/install-action or taiki-e/cache-cargo-install-action #3204
• Use stable rust for building C API #2993
• chore(ci): check C header file with stable rust #3259
• Revamp gen_header using cargo-expand #3092
• chore(ci): cache rust dependency #3353

[seanmonstar]

❤️