Revise the use of GHA cache for pulling docker images in pipeline

[jonesho]

Description

The github actions job pull-and-cache-images doesn't work as intented:

• runs twice if compose files are modified
• only cache the docker images but doesn't seems to restore them correctly in other workflow, i.e. just restore the tar file but not doing docker load command to restore the docker images

Need to revise the github actions job to make sure it caches the docker images once if any images in the compose files are updated and properly restore the cache and load them as docker images in other workflows.

Motivation

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Tasks

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