[BUG] CI fails because is using a deprecated CircleCI image

[rubenperezm]

Describe the bug
The CI pipeline fails when running the ci/circleci: ubuntu_arm64 job. This happens because it tries to use the image ubuntu-2004:202101-01, which is no longer available (see https://discuss.circleci.com/t/linux-image-deprecations-and-eol-for-2024/50177)

To Reproduce
Steps to reproduce the behavior:

1. Run the ci/circleci: ubuntu_arm64 job.

Expected behavior
The job should use an available image.

Additional context
Current image tags for Ubuntu 20.04: https://circleci.com/developer/machine/image/ubuntu-2004#image-tags