How do I update github actions to Node.js 20?

You should be able to just update the version of the first action to actions/checkout@v4. The other one requires update to node20 by ranocha · Pull Request #209 · julia-actions/setup-julia · GitHub

To get updates like the first one, you should consider adding a Dependabot configuration to your repository as in Trixi.jl/.github/dependabot.yml at main · trixi-framework/Trixi.jl · GitHub

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