Implement caching for GitHub Actions

[redeboer]

See github.com/actions/cache and Caching dependencies to speed up workflows.

Some things that can be cached:

• pip packages
• Notebook caches from MyST-NB. This may even remove the need to embed figures in Technical Reports from compwa-org.
• Cache from functions like perform_cached_doit()

It's important that these caches are refreshed upon dependency changes or changes to the src code.

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