refactor: unify CI docker images

[gartnera]

Description

• unify the localnet and upgrade docker images by using a multistage build. you can stop a multistage build by using the --target option.
• use debian instead of alpine for glibc compatibility. this means that we can deploy our real releases into the localnet containers.
• always run zetacored under cosmovisor. all localnet builds can now accept and process upgrade proposals.
• serve upgrade binaries from a sidecar container upgradehost
• run the upgrade governance proposal from upgradeorchestrator
• simplify the docker compose file a bit (docker-compose-upgrade-light.yml now inherits from docker-compose-upgrade.yml)
• remove static ssh keys from docker build. ssh keys are now generated on first zetacored0 boot and stored on a volume. this will enable caching docker images to speed up CI. update: this highlighted a few race conditions that I had to fix.

Relates to #2146 #2147

Relates to DEVOP-642 DEVOP-643

How Has This Been Tested?

• Tested in development environment
• Go integration tests
• Tested via GitHub Actions (upgrade tests pass)

Checklist:

• light upgrade tests pass locally

[gzukel]

+1

[lumtis]

LGTM just a few minor comments

[gartnera]

upgrade tests are passing before final merge: https://github.com/zeta-chain/node/actions/runs/9082090862/job/24957575444