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ci: build and publish arm64 image on native arm64 runner (#3176)

Switch docker-publish-staging and docker-publish-release to build
linux/arm64 instead of linux/amd64, and run them on the ubuntu-24.04-arm
runner so the build is native (no QEMU emulation). Update the stale
single-arch comment accordingly.

Co-authored-by: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

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