Update ci

[urfeex]

• Remove superfluous github.job from cache name
• Remove semi-binary-testing builds since they aren't really giving any benefit
• Make setting an upstream workspace optional
• Add test dependency to hardware_interface_testing to avoid logged errors in controller load tests

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 5.66%. Comparing base (1b121b7) to head (8e9a204).
Report is 413 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff            @@
##            main   #1315      +/-   ##
========================================
+ Coverage   3.59%   5.66%   +2.07%     
========================================
  Files         13      31      +18     
  Lines        947    3072    +2125     
  Branches     152     375     +223     
========================================
+ Hits          34     174     +140     
- Misses       843    2896    +2053     
+ Partials      70       2      -68     

Flag	Coverage Δ
unittests	5.66% <ø> (+2.07%)	⬆️

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