ci: Use GITHUB_OUTPUT envvar instead of set-output command (#9215)

`save-state` and `set-output` commands used in GitHub Actions are
deprecated and [GitHub recommends using environment
files](https://github.blog/changelog/2023-07-24-github-actions-update-on-save-state-and-set-output-commands/).

This PR updates the usage of `set-output` to `$GITHUB_OUTPUT`

Instructions for envvar usage from GitHub docs:


https://docs.github.com/en/actions/using-workflows/workflow-commands-for-github-actions#setting-an-output-parameter

.github/workflows/release.yml

@@ -47,7 +47,7 @@ jobs:
         id: prepare
         run: |
           TAG=${GITHUB_REF#refs/tags/}
-          echo ::set-output name=tag_name::${TAG}
+          echo "tag_name=${TAG}" >> $GITHUB_OUTPUT
 
       - name: Set up QEMU
         uses: docker/setup-qemu-action@v2