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Replace unmaintained actions-rs/* actions in CI workflows
Basically all of the `actions-rs/*` actions are unmaintained. See <actions-rs/toolchain#216> for more information. Due to their age they generate several warnings in CI runs. To get rid of those warnings the occurrences of `actions-rs/toolchain` are replaced by `dtolnay/rust-toolchain`, and the occurrences of `actions-rs/cargo` are replaced by direct invocations of `cargo`.
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