feat(p2p/discover): improve discv5 handling of IPv4-in-IPv6 addresses #22703 - #2489

Node.js 20 is deprecated. The following actions target Node.js 20 but are being forced to run on Node.js 24: actions/cache@v4, actions/checkout@v4, actions/setup-go@v5. For more information see: https://github.blog/changelog/2025-09-19-deprecation-of-node-20-on-github-actions-runners/