[7.17] Update to Go 1.21 again

[cmacknz]

Go 1.22 has been released obsoleting Go 1.20.

This reverts commit e189299 to bring back the Go 1.21 update now that 7.17.18 has been released.

[elasticmachine]

Pinging @elastic/elastic-agent (Team:Elastic-Agent)

[elasticmachine]

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• Start Time: 2024-02-07T20:16:32.542+0000

• Duration: 159 min 28 sec

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Test	Results
Failed	0
Passed	20355
Skipped	1397
Total	21752

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💔 Build Failed

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• Commit: f948692

Failed CI Steps

• :ubuntu: Go Integration Tests
• :ubuntu: Python Integration Tests
• :windows:-family/core-windows-2022 Unit Tests

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• 💔 Build #2685 failed 4779137

cc @cmacknz