chore: Update GitHub actions to latest for supported runtimes

[bryantbiggs]

Issue

• Update GitHub actions to latest for supported runtimes; remove setup-go since go is not used in this repo
• Only run CI when chart changes (*.yaml, *.tpl) are detected, not on doc changes
• Remove Helm v2 usage which reached EOL on November 2020
• Update test component versions (helm, Kind, bats)

Description of changes

• Resolves deprecation warning for actions
• Does not force doc changes to increment chart version Fix helm apply command formatting. #1141

Checklist

• Added/modified documentation as required (such as the README.md for modified charts)
• Incremented the chart version in Chart.yaml for the modified chart(s)
• Manually tested. Describe what testing was done in the testing section below
• Make sure the title of the PR is a good description that can go into the release notes

Testing

By submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 license.

[dims]

LGTM