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update builder to use go1.21.1 and bump cosign image #3909

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Run time

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Job	Run time
build	6m 11s
container-build	2m 23s
sharding-e2e	6m 2s
harness	17m 11s
e2e	9m 6s
issue-872-e2e	4m 31s
	45m 24s