Merge branch 'master' into develop

ci: also push images to GHCR

ci: bump login and qemu actions

ci: switch to GitHub caching

ci: bump setup-buildx-action

ci: save-state and set-output are deprecated

ci: reduce complexity by avoiding scripting

ci: revert to check only

style: autoformatted code with black

style: apply black changes

style: isort and black

style: black

ci: ubuntu 20.04 is unsupported

ci: use verified action instead of manual black formatter

ci: unify docker metadata actions