fix(ci): sanitize branch name in docker buildcache tags

[xmfcx]

• Parent Issue: fix(ci): docker build cache tags break on branches with slashes #6953
• Sanitize github.ref_name by replacing / with - before using it in Docker registry cache tags
• Adds a Sanitize ref name for cache tag step to all 5 docker build jobs in the docker-build-and-push workflow

Why

Docker tags cannot contain /. Branches using the type/description naming convention (e.g. refactor/ci-pass-rosdistro-instead-of-env) produce invalid registry cache references, causing buildx bake to fail with invalid reference format. This only affects non-main branches, making it appear flaky.

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Test plan

• Trigger docker-build-and-push workflow on a branch with / in the name and verify the build no longer fails with invalid reference format
  • Verification run: https://github.com/autowarefoundation/autoware/actions/runs/23666589161

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[youtalk]

I know the problem and thank you for your fix.

[xmfcx]

Thanks for the review!

The verification run did not fail at the first 3 minutes so I'll go ahead and merge it. I have another PR that is waiting, it will also test it further.