refactor CI (#6176)

* fix (ci): hotfix Docker release

* test (ci): run full ci  [skip ci]

* change (ci): check stage; add default variables because they were overriden; test-dep-rules goes k8s

* change (ci): move companion job to another stage

* change (ci): no good way to avoid artifacts downloads without dependencies

* fix (ci): typo

* change (ci): all CI images were moved to paritytech registry

* fix (ci): return to the prev image, new needs more testing