speed up GitHub Actions

[njzjz]

This PR speeds up multiple GitHub Actions in the following way:

• only install cuda-nvcc and cuda-cudart-dev instead of the whole cudatoolkit
• skip installing clang as it's already shipped with the GitHub Action image
• enable cache for all setup-python
• use Ninja instead of Make as the CMake generator

[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01% ⚠️

Comparison is base (7da9aaf) 75.52% compared to head (6bf51ed) 75.51%.

Additional details and impacted files

@@            Coverage Diff             @@
##            devel    #2822      +/-   ##
==========================================
- Coverage   75.52%   75.51%   -0.01%     
==========================================
  Files         242      242              
  Lines       24162    24162              
  Branches     1533     1533              
==========================================
- Hits        18249    18247       -2     
  Misses       4997     4997              
- Partials      916      918       +2     

see 1 file with indirect coverage changes

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