chore: Update CI and release workflows

[philjhale]

Description

• Update deprecated set-output command. This will stop working in June 2023. See this post.
• Update actions to use Node 16 rather than Node 12. Github are currently migrating away from Node 12. See this post.
  GabrielBB/xvfb-action is no longer maintained and there is no Node 16 version. Therefore it was replaced with coactions/setup-xvfb.

[welcome]

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[codecov]

Codecov Report

Merging #1397 (6a40c6a) into main (d28a33b) will not change coverage.
The diff coverage is n/a.

❗ Current head 6a40c6a differs from pull request most recent head cfec94e. Consider uploading reports for the commit cfec94e to get more accurate results

@@           Coverage Diff           @@
##             main    #1397   +/-   ##
=======================================
  Coverage   85.46%   85.46%           
=======================================
  Files          40       40           
  Lines       10017    10017           
  Branches     2319     2319           
=======================================
  Hits         8561     8561           
  Misses       1456     1456           

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[welcome]

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