[CI] build packages for debian and ubuntu in different docker images and in separate jobs

Currently the .deb package is built on a ubuntu:24.04 image, which pulls newer packages that are not yet available in debian 12, and resulting .deb cannot be installed on debian 12 for testing, which is the purpose of the CI job

We should instead have separate jobs to build for debian 12, ubuntu 22.04 and ubuntu 24.04 on the CI