build: update actions/setup-go in workflows

- Update `actions/setup-go` to v4.0.0 in workflows.
- Remove separate caching steps in favor of built-in caching feature
  in action (since >=v3.0.0).

Signed-off-by: Hidde Beydals <hidde@hhh.computer>

.github/workflows/e2e-bootstrap.yaml

@@ -17,17 +17,13 @@ jobs:
     steps:
       - name: Checkout
         uses: actions/checkout@24cb9080177205b6e8c946b17badbe402adc938f # v3.4.0
-      - name: Restore Go cache
-        uses: actions/cache@940f3d7cf195ba83374c77632d1e2cbb2f24ae68 # v3.3.0
-        with:
-          path: ~/go/pkg/mod
-          key: ${{ runner.os }}-go1.20-${{ hashFiles('**/go.sum') }}
-          restore-keys: |
-            ${{ runner.os }}-go1.20-
       - name: Setup Go
-        uses: actions/setup-go@6edd4406fa81c3da01a34fa6f6343087c207a568 # v3.5.0
+        uses: actions/setup-go@4d34df0c2316fe8122ab82dc22947d607c0c91f9 # v4.0.0
         with:
           go-version: 1.20.x
+          cache-dependency-path: |
+            **/go.sum
+            **/go.mod
       - name: Setup Kubernetes
         uses: helm/kind-action@d8ccf8fb623ce1bb360ae2f45f323d9d5c5e9f00 # v1.5.0
         with: