CI: use `rustsec/audit-check@v2` (#1093) #1410

Job	Run time
build (1.73.0, thumbv7em-none-eabi)	32s
build (1.73.0, wasm32-unknown-unknown)	30s
build (stable, thumbv7em-none-eabi)	24s
doc	45s
build (stable, wasm32-unknown-unknown)	25s
test (1.73.0)	33s
test (stable)	33s
	3m 42s

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