feat(docker): integrate cuda/no-cuda jobs into single job

[youtalk]

Description

Resolved #5082

As a result of the activity autowarefoundation/autoware.universe#8695, the only packages dependent on CUDA are the sensing/perception components of autoware.universe. Therefore, the container images with the -cuda suffix are actually only needed for universe-sensing-perception-devel and universe-sensing-perception.

Additionally, since there is currently only one arm64 self-hosted runner, the no-cuda/cuda jobs in the docker-build-and-push-arm64 workflow experience double the waiting time.

This PR consolidates the no-cuda/cuda jobs and changes the process so that only the CUDA dependent packages in the sensing/perception component are built in an additional stage.

Tests performed

https://github.com/autowarefoundation/autoware/actions/runs/11489943171
https://github.com/autowarefoundation/autoware/actions/runs/11489945134

Effects on system behavior

Not applicable.

Interface changes

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