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Simplify GHA CI config now we don't test on v18 #921

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Run time

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Job	Run time
Build & test (22.x)	3m 15s
Build & test (*)	3m 22s
Build & test (v22.20.0)	3m 17s
Build & test (20.x)	3m 18s
Build & test (*)	3m 12s
Build & test (22.x)	3m 18s
Build & test (20.x)	3m 20s
Build & test (v22.20.0)	2m 58s
	26m 0s