Add caching for docker layers and build caches for GitHub Action workflows

We are building many container images during CI/CD workflows in the various Debezium repositories. Currently these are not cached. Sometimes downloading dependent image layers can be slow (e.g. downloading the UBI image recently timed out quite often).
Also we might face issues with Docker Hub request limits.
For this we should add caching for docker build cache and image layers.
See:
https://github.com/docker/setup-buildx-action
https://evilmartians.com/chronicles/build-images-on-github-actions-with-docker-layer-caching (see section "Finally, getting some action")