[CI] use gradle/actions/setup-gradle
instead of gradle-build-action
#5981
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gradle/gradle-build-action
is deprecated.See https://github.com/gradle/actions/blob/main/docs/deprecation-upgrade-guide.md#the-action-gradlegradle-build-action-has-been-replaced-by-gradleactionssetup-gradle