fix: rename workflow files to use .yaml suffix for OIDC compatibility

The OIDC trusted publishing connection between GitHub Actions and
npmjs.com was failing because the workflow was configured as
publish.yaml in the npm OIDC settings, but the actual file was
named publish.yml.

Renamed both workflow files to use the .yaml suffix (the preferred
suffix according to YAML.org[1]) instead of updating the OIDC
configuration.

[1]: https://yaml.org/faq.html

Ticket: VL-3686

Author: andrew-scott-fischer