Build CI images in parallel (#7296)

* Factor out common setup steps

* Re-order

* Split independent builds into parallel jobs

* Cache jetson builds

* Use zstd compression

* Switch from gha cache to registry cache

A CI run (four images cached with mode-max) populates the cache with 295
cache entries totalling 23.44 GB. This exceeds gha's 10GB limit, causing
trashing. Try with a registry instead.

* Enable manual CI runs

.github/workflows/maintain_cache.yml

@@ -12,29 +12,12 @@ jobs:
     runs-on: ubuntu-latest
     name: Image Build
     steps:
-      - name: Remove unnecessary files
-        run: |
-          sudo rm -rf /usr/share/dotnet
-          sudo rm -rf /usr/local/lib/android
-          sudo rm -rf /opt/ghc
-      - id: lowercaseRepo
-        uses: ASzc/change-string-case-action@v5
-        with:
-          string: ${{ github.repository }}
       - name: Check out code
         uses: actions/checkout@v3
-      - name: Set up QEMU
-        uses: docker/setup-qemu-action@v2
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v2
-      - name: Log in to the Container registry
-        uses: docker/login-action@465a07811f14bebb1938fbed4728c6a1ff8901fc
+      - name: Set up QEMU and Buildx
+        uses: ./.github/actions/setup
         with:
-          registry: ghcr.io
-          username: ${{ github.actor }}
-          password: ${{ secrets.GITHUB_TOKEN }}
-      - name: Create version file
-        run: make version
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       - name: Build and push
         uses: docker/build-push-action@v4
         with: