apacheGH-41127: [CI] Use GitHub Actions instead of Azure Pipelines for docker-tests (apache#41153)

### Rationale for this change

We don't want to maintain multiple CI platforms to reduce maintenance cost.

### What changes are included in this PR?

Use GitHub Actions for docker-tests.

### Are these changes tested?

Yes.

### Are there any user-facing changes?

No.
* GitHub Issue: apache#41127

Authored-by: Sutou Kouhei <kou@clear-code.com>
Signed-off-by: Sutou Kouhei <kou@clear-code.com>

Author: kou