ci: GitHub Actions Xcode version test matrix

[einsteinx2]

Summary

• Updates the CI to run tests using matrices of different Xcode and OS versions.
• Simplified yaml by using the matrix functionality to do iOS and tvOS in the same declaration

This supersedes the previous PR here: #214

Testing Plan

• Tested in github actions on a test branch, all tests passed on both Xcode 14 and Xcode 15 beta

Reference Issue (For mParticle employees only. Ignore if you are an outside contributor)

• Closes https://go.mparticle.com/work/SQDSDKS-5587