ENH: Upgrade CI for ITK 5.4.0 #521

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Node.js 16 actions are deprecated. Please update the following actions to use Node.js 20: actions/checkout@v3. For more information see: https://github.blog/changelog/2023-09-22-github-actions-transitioning-from-node-16-to-node-20/.

Treating doxygen as a formula. For the cask, use homebrew/cask/doxygen or specify the `--cask` flag.

zstd 1.5.6 is already installed and up-to-date. To reinstall 1.5.6, run: brew reinstall zstd

aria2 1.37.0 is already installed and up-to-date. To reinstall 1.37.0, run: brew reinstall aria2

gnu-tar 1.35 is already installed and up-to-date. To reinstall 1.35, run: brew reinstall gnu-tar

Treating cmake as a formula. For the cask, use homebrew/cask/cmake or specify the `--cask` flag.

Treating doxygen as a formula. For the cask, use homebrew/cask/doxygen or specify the `--cask` flag.

Treating cmake as a formula. For the cask, use homebrew/cask/cmake or specify the `--cask` flag.