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The ruby/setup-ruby action is actually maintained by the Ruby people themselves. It has built in caching with the proper behavior. Not only is it easier to read (less syncing going on), it's also likely to be maintained properly. For example, to get proper caching of gems, bundle lock should run to get a Gemfile.lock which gives you a correct cache. This action does it for you.
Note I didn't test it myself since I don't use PDK, but we've been using this in Voxpupuli (https://github.com/voxpupuli/modulesync_config/blob/master/moduleroot/.github/workflows/ci.yml.erb) and it works well in my experience. The only thing we don't currently do is to run on push as well. That means we don't have a shared cache ready and caches are now scoped to a user. It looks like pdk-templates is in the same setup, but due to the nightly tests it probably gets away with this.