There's a zero-config way to achieve this at mheap/phpunit-matcher-action

This is a PHPUnit printer that uses the ::error and ::warning functionality of GitHub Actions to add annotiations for failing test runs. It's main differentiator to the above is that it supports adding warnings in addition to errors.

Add this printer to your project

composer require --dev mheap/phpunit-github-actions-printer

When you run your tests, specify mheap\GithubActionsReporter\Printer as the printer to use

./vendor/bin/phpunit --printer mheap\\GithubActionsReporter\\Printer /path/to/tests