Refactor release ci

[mohanson]

Fix two warnings reported by github:

• The following actions uses node12 which is deprecated and will be forced to run on node16: actions/create-release@v1. For more info: https://github.blog/changelog/2023-06-13-github-actions-all-actions-will-run-on-node16-instead-of-node12-by-default/
• The set-output command is deprecated and will be disabled soon. Please upgrade to using Environment Files. For more information see: https://github.blog/changelog/2022-10-11-github-actions-deprecating-save-state-and-set-output-commands/