Bump deprecated versions in GitHub Actions workflows

[jakub-nt]

Ubuntu 20.04 runner is being deprecated.

CodeQL Action major versions v1 and v2 have been deprecated. Please update all occurrences of the CodeQL Action in your workflow files to v3. For more information, see https://github.blog/changelog/2025-01-10-code-scanning-codeql-action-v2-is-now-deprecated/

Changelog: None
Ticket: None

[mender-test-bot]

There was an error running your pipeline, see logs for details.

[CLAassistant]

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