Validate E2E workflow in CI

[john-odonnell]

Is your feature request related to a problem? Please describe.

Before adding E2E tests with more environments and authenticators, it would help to
set up either Jenkins or a GitHub action to validate the E2E workflows. Whichever CI
is used could trigger on each PR and daily to ensure additions work in an ambiguous
environment.

Describe the solution you would like

CI flow to validate the current E2E workflow path, using either

• GitHub action
• Jenkinsfile

The CI flow should also be easily extensible to add other elements of the test matrix described in #310.

Describe alternatives you have considered

Additional context

[diverdane]

+1 for implementing this using GitHub actions. For reference, this GitHub action uses Helm V3 and KinD:
https://github.com/cyberark/conjur-authn-k8s-client/blob/master/.github/workflows/ci.yaml
so it would be a good starting point!