use shared setup-go and drop installation of go-licenses

[dprotaso]

/assign @izabelacg

[knative-prow]

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Comparison is base (bea8825) 81.86% compared to head (925baf4) 78.68%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2970      +/-   ##
==========================================
- Coverage   81.86%   78.68%   -3.19%     
==========================================
  Files         167      188      +21     
  Lines       10231    11051     +820     
==========================================
+ Hits         8376     8695     +319     
- Misses       1608     2092     +484     
- Partials      247      264      +17     

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[izabelacg]

/lgtm