(PA-6178) Update to PDK template 3.0.1 and use updated module release worfklow

(PA-6178) Update to PDK template 3.0.1 and use updated module release worfklow

This commit updates this module from PDK template 2.7.1 to 3.0.1 and updates
the module release workflows to use the newer release_prep instead of
auto_release GitHub Action wofklow. This commit also:
- Removes the github_changelog_generator and concurrent-ruby gems because they
  are no longer needed for the new module release process in PDK template
- Updates the Rakefile to use Vox Rake tasks only if the vospupuli-acceptance
  gem is installed