Update CI (backport #71)

[mergify]

Description

This PR aims to update the CI structure for the repository.

Main changes

• Remove coverage from nightly.yaml
• Update docker images and distributions
• Add lyrical in the matrix of the nightly CI
• Bump version of the CI actions

  ---

  This is an automatic backport of pull request Update CI #71 done by Mergify.

[mergify]

Cherry-pick of 383fc6d has failed:

On branch mergify/bp/humble/pr-71
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit 383fc6d.
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  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	modified:   .github/workflows/ci.yml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   .github/workflows/nightly.yml

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

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