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[ci][generate_cache] Run steps in parallel
In the shell script that is the main body of the `generate_cache` job, background each task and then wait for them all to complete so that they can run in parallel. In one test, this sped up the execution time of the "Download dependencies" step of the `generate_cache` job from 29s [1] to 18s [2]. [1] https://github.com/google/zerocopy/actions/runs/8022266381/job/21916187070?pr=932 [2] https://github.com/google/zerocopy/actions/runs/8022379583/job/21916562791?pr=940
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