Small CI improvements (#4953)

* Replace the unmaintained actions-rs/cargo that github actions
complains about using an old node version with plain cargo (this was the
original motivation for this PR)
* Use taiki-e/install-action to install critcmp directly
* Use a rust 1.70 nightly toolchain for udeps
* Cache python package build (this should cut a good chunk of ci time)
* yaml formatting courtesy of pycharm

Test Plan: CI itself

.github/workflows/pr-comment.yaml

@@ -2,8 +2,8 @@ name: PR Check Comment
 
 on:
   workflow_run:
-    workflows: [CI, Benchmark]
-    types: [completed]
+    workflows: [ CI, Benchmark ]
+    types: [ completed ]
   workflow_dispatch:
     inputs:
       workflow_run_id: