bump go version to 1.21.3 for security (#5337)

[ti-chi-bot]

This is an automated cherry-pick of #5337

What problem does this PR solve?

ref https://groups.google.com/g/golang-announce/c/iNNxDTCjZvo

What is changed and how does it work?

Code changes

• Has Go code change
• Has CI related scripts change

Tests

• Unit test
• E2E test
• Manual test
• No code

Side effects

• Breaking backward compatibility
• Other side effects:

Related changes

• Need to cherry-pick to the release branch
• Need to update the documentation

Release Notes

Please refer to Release Notes Language Style Guide before writing the release note.

[codecov-commenter]

Codecov Report

Merging #5341 (8301b8a) into release-1.5 (8dae55b) will increase coverage by 10.36%.
The diff coverage is 50.00%.

Additional details and impacted files

@@               Coverage Diff                @@
##           release-1.5    #5341       +/-   ##
================================================
+ Coverage        57.66%   68.03%   +10.36%     
================================================
  Files              254      241       -13     
  Lines            30838    32769     +1931     
================================================
+ Hits             17784    22295     +4511     
+ Misses           11315     8698     -2617     
- Partials          1739     1776       +37     

Flag	Coverage Δ
e2e	47.13% <0.00%> (?)
unittest	61.68% <100.00%> (+4.01%)	⬆️

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