Rails Codegen CI

Simplify CI, fix rubocop, and loosen dependencies #1205

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Run time

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Job	Run time
ruby-rbs-type-check	1m 59s
ruby-specs (3.0)	1m 51s
ruby-specs (3.1)	1m 53s
ruby-specs (3.2)	2m 9s
ruby-specs (3.3)	1m 57s
	9m 49s