Add concurrency cancellation for test/build GitHub Actions (#2710)

The GitHub Actions build queue can get 'stacked up' if there are a few smaller commits in quick succession. Since the actions take some time, some small commits can cause the GHA build queue to get congested.

This adds a 'concurrency' check for GitHub actions. It means that if a newer trigger comes in (for example, if you make two commits in a row on a PR), then the first job will be cancelled, allowing for the new job to run.

This helps save energy, and for faster feedback in PRs.

Reference docs: https://docs.github.com/en/actions/using-jobs/using-concurrency#example-using-concurrency-to-cancel-any-in-progress-job-or-run

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