added debug container and workflow

[zackbradys]

Please check below, if the PR fulfills these requirements:

• Commit(s) and code follow the repositories guidelines.
• Test(s) have been added or updated to support these change(s).
• Doc(s) have been added or updated to support these change(s).

Associated Links:

• [RFE] Create a "-debug" docker image with a shell #251

Types of Changes:

• Feature

Proposed Changes:

• Build and publish a hauler container with the binary, shell, and other tools
• Includes updates to GitHub Actions for building and publishing this container

Verification/Testing of Changes:

• docker build --target debug -t zackbradys/hauler-debug:latest . --load

Additional Context:

• N/A

[zackbradys]

approved via @dweomer in slack messages