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Further improvements to CI test pipeline (#3682)
This PR makes the following changes: - Run `verify-build` and `cache-docker-images` jobs in parallel in `test.yml` workflow. E2e tests now await both. - Remove node 20 from e2e k8s jobs matrices - Move `saveAndZip` function from `images` to `scripts` - Add JSDoc style comments to functions - Add tests for `images` command and `loadOrPullServiceImages` function - Load kind image at proper time and load service images directly into kind correctly. - Change error handling on `kindLoadImages` so errors aren't swallowed.
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