chore: refactor release workflow

[harsh62]

Description of changes:

Kick Off Release workflow changes

• Change the branch name to releases/X.X.X to kick off release and bump branch
• Change the destination branch for release PR from release to main
• Change the commit message

Release workflow changes

• Change the trigger to PR closed and merged.
• Make sure the message is correct for the release.
• Remove the update main branch step because it is no longer needed.

Check points:

• Added new tests to cover change, if needed
• All unit tests pass
• All integration tests pass
• Updated CHANGELOG.md
• Documentation update for the change if required
• PR title conforms to conventional commit style

By submitting this pull request, I confirm that my contribution is made under the terms of the Apache 2.0 license.

[5d]

There are some permissions for assuming AWS OIDC roles we might need to double check.

@5d I am not sure which if I understand why permissions would affect this PR. Can you elaborate?

We might need other's help. It's about the action environment setting on branches. I remember we restrict some of them to release branch. You might need to change that to main.