ci: Add semantic PR check GHA workflow

[matthewfeickert]

Description

As https://github.com/zeke/semantic-pull-requests is no longer maintained and is down (c.f. zeke/semantic-pull-requests#183 (comment)), use the suggested alternative of https://github.com/amannn/action-semantic-pull-request to check that PR titles follow the Conventional Commits spec.

Checklist Before Requesting Reviewer

• Tests are passing
• "WIP" removed from the title of the pull request
• Selected an Assignee for the PR to be responsible for the log summary

Before Merging

For the PR Assignees:

• Summarize commit messages into a comprehensive review of the PR

* As https://github.com/zeke/semantic-pull-requests is no longer maintained
and is down, use the suggested alternative of
https://github.com/amannn/action-semantic-pull-request to check that PR titles
follow the Conventional Commits spec.

[codecov]

Codecov Report

Merging #1868 (5c45bb6) into master (0409ab5) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master    #1868   +/-   ##
=======================================
  Coverage   98.17%   98.17%           
=======================================
  Files          68       68           
  Lines        4322     4322           
  Branches      726      726           
=======================================
  Hits         4243     4243           
  Misses         46       46           
  Partials       33       33           

Flag	Coverage Δ
contrib	26.39% <ø> (ø)
doctest	60.73% <ø> (ø)
unittests-3.10	96.04% <ø> (ø)
unittests-3.7	96.02% <ø> (ø)

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