ci: remove uses of unmaintained actions-rs actions (#5316)

- Use dtolnay/rust-toolchain instead of actions-rs/toolchain
- Use cargo/cross directly instead of actions-rs/cargo
- Use rustsec/audit-check instead of actions-rs/audit-check

.github/workflows/pr-audit.yml

@@ -19,17 +19,10 @@ jobs:
       - uses: actions/checkout@v3
 
       - name: Install cargo-audit
-        uses: actions-rs/cargo@v1
-        with:
-          command: install
-          args: cargo-audit
+        run: cargo install cargo-audit
 
       - name: Generate lockfile
-        uses: actions-rs/cargo@v1
-        with:
-          command: generate-lockfile
+        run: cargo generate-lockfile
 
       - name: Audit dependencies
-        uses: actions-rs/cargo@v1
-        with:
-          command: audit
+        run: cargo audit