ci(actions): run amd64 E2E on GitHub actions and arm64 on CircleCI

[jijiechen]

Checklist prior to review

• Link to relevant issue as well as docs and UI issues
  • N/A
• This will not break child repos: it doesn't hardcode values (.e.g "kumahq" as a image registry) and it will work on Windows, system specific functions like syscall.Mkfifo have equivalent implementation on the other OS
  • Confirmed
• Tests (Unit test, E2E tests, manual test on universal and k8s)
  • Manually tested
  • Don't forget ci/ labels to run additional/fewer tests
    • Added
• Do you need to update UPGRADE.md?
  • No need
• Does it need to be backported according to the backporting policy? (this GH action will add "backport" label based on these file globs, if you want to prevent it from adding the "backport" label use no-backport-autolabel label)
  • No need to back-port.

This PR follows the previous one at here and supports running E2E tests on GitHub Actions when arch is amd64, other arches will still run on CircleCI

[jijiechen]

Example runs:

1. a normal run with priority cases only: https://github.com/jijiechen/kuma/actions/runs/7015203805
2. a full matrix run: https://github.com/jijiechen/kuma/actions/runs/7029516082 (fail because of code errors)

This PR look large because it contains all the changes in the previous PR. I'll update this PR as soon as the previous one is merged so that it'll be cleaner.

[lahabana]

LGTM!