GHA/codeql: re-enable for C with the default query pack

GHA/codeql: re-enable for C with the default query pack

Earlier we used `security-extended` and tried `security-and-quality`.
Try the default to see how it works.

CodeQL no longer uses the project's Actions cache, also fixing
the previously seen repeat cache entry issue.

- switch to `manual` build. It's 3x faster than the default `autobuild`.
- enable more dependencies to increase coverage.
- docs/tests/CI.md: re-add CodeQL.

Ref: https://docs.github.com/en/code-security/code-scanning/managing-your-code-scanning-configuration/codeql-query-suites
Ref: https://docs.github.com/en/code-security/code-scanning/creating-an-advanced-setup-for-code-scanning/codeql-code-scanning-for-compiled-languages
Ref: #16263
Ref: 173805b2e76960de5c51fd5fe64286d8ac81f1ff #15798

Closes #18528