Backport of chore: Update actions to use Node24 into release/0.20.x

[hc-github-team-secure-boundary]

Backport

This PR is auto-generated from #6523 to be assessed for backporting due to the inclusion of the label backport/0.20.x.

🚨

Warning automatic cherry-pick of commits failed. If the first commit failed,
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The person who merged in the original PR is:
@moduli
This person should manually cherry-pick the original PR into a new backport PR,
and close this one when the manual backport PR is merged in.

merge conflict error: POST https://api.github.com/repos/hashicorp/boundary/merges: 409 Merge conflict []

The below text is copied from the body of the original PR.

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Description

This PR updates github action workflows to mitigate Node20 deprecation warnings.

Here's one example of a warning

Node.js 20 actions are deprecated. The following actions are running on Node.js 20 and may not work as expected: actions/upload-artifact@330a01c. Actions will be forced to run with Node.js 24 by default starting June 2nd, 2026. Node.js 20 will be removed from the runner on September 16th, 2026. Please check if updated versions of these actions are available that support Node.js 24. To opt into Node.js 24 now, set the FORCE_JAVASCRIPT_ACTIONS_TO_NODE24=true environment variable on the runner or in your workflow file. Once Node.js 24 becomes the default, you can temporarily opt out by setting ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION=true. For more information see: https://github.blog/changelog/2025-09-19-deprecation-of-node-20-on-github-actions-runners/

There will be a follow-up in boundary-enterprise

https://hashicorp.atlassian.net/browse/ICU-18777

PCI review checklist

• I have documented a clear reason for, and description of, the change I am making.
• If applicable, I've documented a plan to revert these changes if they require more than reverting the pull request.
• If applicable, I've documented the impact of any changes to security controls.
  Examples of changes to security controls include using new access control methods, adding or removing logging pipelines, etc.

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Overview of commits

• 02bd833

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