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ci: Update Dockerfile base image and toolchain

Mahmoud Elsabbagh requested to merge public-dockerfile into main
  • 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

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