Overhaul Dockerfile and workflows

[tombeynon]

This PR overhauls the Dockerfile, GitHub workflows and updates base images to latest stable versions. The main changes are:

• Updates the default base image to debian:bookworm-slim (version 12)
• Updates the default build image to golang:1.21-bookworm
• Rewrites the Dockerfile to minimise the number of layers, reduce image sizes and improve structure
• Removes the aws CLI and instead uses the much smaller s3cmd package
• Removes the source installation of zstd in favour of the apt package
• Improves the publish workflow to dynamically build all images, avoiding manual changes
• Improves the test workflow to only run tests for changed directories
• Improves the test workflow to run noded version and ensure it returns the correct value
• Updates and fixes issues with various chains raised by the new test workflow
• Adds a WASMVM_VERSION helper to download wasmvm at runtime
• Improves the build workflow for prebuilt binaries distributed in zip and tar(.gz) files
• Renames run.sh to entrypoint.sh