Polish CI/CD workflows

[ryangoree]

• Made the full image names configurable by renaming env.tags to env.images and using the full image name. This is useful for testing with locally built or forked images.
• Polished formatting for the .env file created from setup_env.sh
• Renamed the services/ directory to containers/
• Moved repeated container publishing workflow steps into a reusable workflow.
• Moved the test code into scripts in a new test directory, created a reusable workflow for running tests in the test directory.

The container test has it's hyperdrive image name hardcoded in the test. This is because the version that the containers are being built for could be different than the one currently being used in env.images. For example, if hyperdrive is on 0.0.11 and infra is on 0.0.4, then hyperdrive 1.0.0 comes out which has breaking changes for infra, then the container test would be set to hyperdrive 1.0.0 while they're in development. Once development finishes, both tags are bumped together in env.images.

[jalextowle]

Left some nits and questions. I'll leave it up to you as far as what you want to change.