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upgrade GitHub actions #566

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Run time

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Job	Run time
build (macos-latest)	3m 9s
build (macos-latest)	3m 9s
build (macos-latest)	3m 23s
build (macos-latest)	3m 23s
build (macos-latest)	3m 30s
build (windows-latest)	3m 10s
build (windows-latest)	1s
build (windows-latest)	1s
build (windows-latest)	1s
build (windows-latest)	3m 31s
build (ubuntu-latest)	3m 13s
build (ubuntu-latest)	3m 13s
build (ubuntu-latest)	3m 13s
build (ubuntu-latest)	3m 13s
build (ubuntu-latest)	3m 45s
	39m 55s