[main] Upgrade the Golang version to `go1.21.5` (#14689) #155

Job	Run time
Build and push vitess/base Docker images (latest)	4m 18s
Build and push vitess/base Docker images (mysql57)	4m 17s
Build and push vitess/base Docker images (percona57)	4m 24s
Build and push vitess/base Docker images (percona80)	4m 22s
Build and push vitess/k8s image (bullseye)	2m 8s
Build and push vitess/k8s image (bookworm)	2m 13s
Build and push vitess components Docker images	0s
	21m 42s

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