Upgrade CI to use docker-compose v2 (#3543)

## Motivation and Context
- https://github.com/actions/runner-images/issues/9557
- https://docs.docker.com/compose/migrate/

## Description
It seems like they should be drop-in compatible for our use case.

----

_By submitting this pull request, I confirm that you can use, modify,
copy, and redistribute this contribution, under the terms of your
choice._