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ci: migrate to googleapis/release-please-action (#3290) #3954

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Run time

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Job	Run time
lint (5.1, 1.2.0)	13s
check (stable, 3.15.0, 1.6.0)	1m 59s
check (nightly, 3.15.0, 1.6.0)	1m 46s
	3m 58s