[GITHUB] Update Actions for Node.js 16 deprecation preparation (#5819)

GitHub started to show deprecation warnings for all Node.js 16 based Actions:
https://github.blog/changelog/2023-09-22-github-actions-transitioning-from-node-16-to-node-20/

In order to resolve this:
- build.yml: Update cache to v4
- labeler.yml:
  - Remove the now optional 'repo-token' argument
  - Add 'sync-labels' to remove non-actual labels on PR updates
- stale.yml: Remove useless issue permission since we don't have issues enabled

.github/workflows/build.yml

@@ -26,7 +26,7 @@ jobs:
         wget https://gist.githubusercontent.com/zefklop/b2d6a0b470c70183e93d5285a03f5899/raw/build_rosbe_ci.sh
     - name: Get RosBE
       id: get_rosbe
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: RosBE-CI
         key: RosBE-CI-${{runner.os}}-${{steps.get_rosbe_spec.outputs.march-sha}}-${{steps.get_rosbe_spec.outputs.git-sha}}-${{hashfiles('./build_rosbe_ci.sh')}}
@@ -50,7 +50,7 @@ jobs:
       with:
         path: src
     - name: Set up cache for ccache
-      uses: actions/cache@v3
+      uses: actions/cache@v4
       with:
         path: ccache
         key: ccache-${{matrix.compiler}}-${{matrix.arch}}-${{matrix.config}}-${{github.sha}}

.github/workflows/labeler.yml

@@ -8,4 +8,4 @@ jobs:
     steps:
     - uses: actions/labeler@v5
       with:
-        repo-token: "${{ secrets.GITHUB_TOKEN }}"
+        sync-labels: true

.github/workflows/stale.yml

@@ -14,7 +14,6 @@ jobs:
 
     runs-on: ubuntu-latest
     permissions:
-      issues: write
       pull-requests: write
 
     steps: