ci: Update Dockerfile base image and toolchain

- Upgraded base image from Ubuntu 20.04 to 22.04
- Updated toolchain versions:
  - arm-none-eabi: 10.3 → 13.3.rel1
  - doxygen: 1.8.13 → 1.13.2
- Added support for GCC aarch64-linux-gnu and arm-none-linux-gnueabihf
- Added separate LCOV installation stage

Signed-off-by: Mahmoud Elsabbagh <mahmoud.elsabbagh@arm.com>