ci: doc-build: Use zephyr-runner v2

This commit updates the doc-build workflow to use the new zephyr-runner v2
CI runner deployment.

It also installs additional system packages that are not available by
default in the zephyr-runner v2.

Signed-off-by: Stephanos Ioannidis <root@stephanos.io>
(cherry picked from commit 2819c352)