ci/docker: use cargo chef to prepare dependencies.

[xxchan]

https://github.com/LukeMathWalker/cargo-chef

It can speed up docker build by building all dependencies in one layer, and then we can reuse it as docker image cache.

[xxchan]

For docker build, I think alternatively we can also use sccache for it (with a different S3 prefix).

But maybe we can also use cargo chef (and maybe sunset sccache) in CI to achieve #11097 #9852 (comment)

[xxchan]

For java, it seems we can simply use pom.xml https://stackoverflow.com/questions/42208442/maven-docker-cache-dependencies

A writeup about rust's problem, and many solutions https://hackmd.io/@kobzol/S17NS71bh#Better-support-of-Docker-layer-caching-in-Cargo

[BugenZhao]

Seems worthwhile as our folks now often build docker images manually for the purpose of benchmarking, and speeding up the build process could result in a smoother experience and significant cost savings. 🤔

[github-actions]

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