Upgrade Go version to v1.23

[tenzen-y]

What this PR does / why we need it:
I upgraded the Go version to v1.23, and golangci-lint version to support the new Go version.
Furthermore, I fixed lint errors came from the later golanci-lint:

pkg/controller.v1/xgboost/xgboost.go:138:5: S1009: should omit nil check; len() for map[github.com/kubeflow/training-operator/pkg/apis/kubeflow.org/v1.ReplicaType]*github.com/kubeflow/training-operator/pkg/apis/kubeflow.org/v1.ReplicaSpec is defined as zero (gosimple)
        if job.Spec.XGBReplicaSpecs == nil || len(job.Spec.XGBReplicaSpecs) == 0 {
           ^
pkg/controller.v1/mpi/mpijob_controller.go:715:26: printf: non-constant format string in call to fmt.Errorf (govet)
                return nil, fmt.Errorf(msg)
                                       ^
[...]

Which issue(s) this PR fixes (optional, in Fixes #<issue number>, #<issue number>, ... format, will close the issue(s) when PR gets merged):
Fixes #

Checklist:

• Docs included if any changes are user facing

[coveralls]

Pull Request Test Coverage Report for Build 12320818171

Details

• 0 of 0 changed or added relevant lines in 0 files are covered.
• No unchanged relevant lines lost coverage.
• Overall first build on upgrade-go-version at 100.0%

---

Totals
Change from base Build 12320692734:	100.0%
Covered Lines:	85
Relevant Lines:	85

---

💛 - Coveralls

[tenzen-y]

/assign @kubeflow/wg-training-leads
/assign @kuizhiqing

[andreyvelich]

Thank you @tenzen-y!
/lgtm
/approve

[google-oss-prow]

[APPROVALNOTIFIER] This PR is APPROVED

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