Replace Makefile with Taskfile

[joelanford]

Experimenting with replacing Makefile with Taskfile: https://taskfile.dev/

A few observations:

• notion of internal vs external tasks, tasks can use other tasks but those subtasks can be hidden from the task CLI
• built-in ways to group tasks
• built-in documentation (both short one-liner and long-form paragraphs).. this seems like it would be an amazing thing to have as a new contributor
• defer keyword that let's you do stuff when a task completes
• developers can put their own custom tasks in Taskfile.yaml (and we could .gitignore it). The task cli picks those up automatically.

In this PR, there are also a few extras that are orthogonal to the Makefile/Taskfile choice:

• code coverage instrumentation of both unit and e2e tests and upload to codecov
• bump to Go 1.20 (needed for instrumenting binaries with coverage, used in e2e)
• combine github test workflows into a matrix
• a few improvements in the goreleaser for go build flags used.
• getting rid of make quickstart but replacing it with build:manifest and build:install-script and then actually using that manifest and install script to a) run build locally via kind b) run e2e tests c) publish a release

[codecov-commenter]

Codecov Report

❗ No coverage uploaded for pull request base (main@eb0312c). Click here to learn what that means.
The diff coverage is n/a.

@@           Coverage Diff           @@
##             main     #137   +/-   ##
=======================================
  Coverage        ?   81.54%           
=======================================
  Files           ?       12           
  Lines           ?      829           
  Branches        ?        0           
=======================================
  Hits            ?      676           
  Misses          ?      120           
  Partials        ?       33           

Flag	Coverage Δ
e2e	61.51% <0.00%> (?)
unit	76.90% <0.00%> (?)

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[openshift-merge-robot]

PR needs rebase.

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