Use docker base image across CI steps

Use a base image for all CI steps to reduce server load and repetitive steps. Base image is used for both generated project as well as the template itself by having different files across directory paths that will match once generated (docker/ci-runner/Dockerfile).

In addition we override one job in the template to change the include path to the prepare job yaml.

The base image is updated to use Python 3.11 (updating the template to support Python 3.11) and all unit tests are configured to manually install required dependencies as there are no base images for these Python versions.

This work is largely copied from @feldt their previous work on base images across various ASTRON repositories.