[bsp][drivers][soft_spi] unify the software SPI driver - #11625

Node.js 20 is deprecated. The following actions target Node.js 20 but are being forced to run on Node.js 24: actions/cache/restore@v4, actions/cache/save@v4, actions/checkout@v4. For more information see: https://github.blog/changelog/2025-09-19-deprecation-of-node-20-on-github-actions-runners/

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