ci: create dependency cache layer of interop tests

[thomaseizinger]

Description

Currently, the Docker images for the HEAD branch of the pull-request get re-built completely every time we push a new commit to a branch. That is because the RUN caches use the local disk of the host system but those are ephemeral in GitHub actions.

To fix this, we rewrite the dockerfiles to use cargo chef, a tool developed to create a cached layer of built dependencies that doesn't get invalidated as the application source changes.

Normally, these layers are also cached on the local filesystem. To have them available across pull-requests and branches, we instruct buildkit to use the same S3 cache as we use in the interop tests already for docker layers. As a result, this should greatly speed up our CI.

Resolves: #3925.

Notes & open questions

Change checklist

• I have performed a self-review of my own code
• I have made corresponding changes to the documentation
• I have added tests that prove my fix is effective or that my feature works
• A changelog entry has been made in the appropriate crates

[thomaseizinger]

1st run (no cache in S3)	2nd run (cache from S3)
https://github.com/libp2p/rust-libp2p/actions/runs/6414249064/attempts/1?pr=4593	https://github.com/libp2p/rust-libp2p/actions/runs/6414249064?pr=4593

[thomaseizinger]

CI being green is good enough to merge this! Let's go! :)

[thomaseizinger]

I've tagged this as resolving #3925 because it essentially solves the same problem just in a different way. We have caches now that can be reused between PRs :)