Migrate to Node 20 (#4756)

.github/actions/setup/action.yml

@@ -3,9 +3,9 @@ name: Setup
 runs:
   using: composite
   steps:
-    - uses: actions/setup-node@v3
+    - uses: actions/setup-node@v4
       with:
-        node-version: 16.x
+        node-version: 20.x
     - uses: actions/cache@v3
       id: cache
       with: