Draft: Build matrix for default and FIPS image

What does this MR do?

Leverage parallel:matrix to build, test, and release multiple Docker images, like -fips.

Warning: It assumes that there's Dockerfile.fips, to build the -fips image.

Currently this sits on top of !291 (merged).

What are the relevant issue numbers?

None?

Does this MR meet the acceptance criteria?

• Tests added for this feature/bug