CI: use default caching action (#29339)

.github/workflows/setup/action.yaml

@@ -1,10 +1,5 @@
 name: 'openpilot env setup'
 
-inputs:
-  save-cache:
-    default: false
-    required: false
-
 runs:
   using: "composite"
   steps:
@@ -18,13 +13,8 @@ runs:
       run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - shell: bash
       run: echo "$CACHE_COMMIT_DATE"
-    - shell: bash
-      run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV
-      if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false'
-    - id: scons-cache
-      # TODO: change the version to the released version
-      # when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+    - id: restore-scons-cache
+      uses: actions/cache/restore@v3
       with:
         path: /tmp/scons_cache
         key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}