ci: Update build.yml to suppress warnings about node.js versions (#2166)
* Update actions to suppress warnings about old node.js
https://github.blog/changelog/2023-09-22-github-actions-transitioning-from-node-16-to-node-20/
* Update actions/upload-artifact, specify android cmdline-tools-version
* Use java 20
gradle 8.1 complains against 21
https://docs.gradle.org/current/userguide/compatibility.html