GitHub Action

Guide
You can use yq in your GitHub action, for instance:
  - uses: actions/[email protected]
  - name: Get SDK Version from config
    id: lookupSdkVersion
    uses: mikefarah/[email protected]
    with:
      cmd: yq '.renutil.version' 'config.yml'
  - name: Restore Cache
    id: restore-cache
    uses: actions/[email protected]
    with:
      path: ../renpy
      key:  ${{ runner.os }}-sdk-${{ steps.lookupSdkVersion.outputs.result }}
      restore-keys: |
        ${{ runner.os }}-sdk
  # ... more
The yq action sets a result variable in its output, making it available to subsequent steps. In this case it's available as steps.lookupSdkVersion.outputs.result.
Details of how the GitHub action itself is configured can be found here​
If you enable step debug logging, you can see additional information about the exact command sent as well as the response returned within the GitHub Action logs.
Thanks @devorbitus!
Troubleshooting
Write in-place file permission errors
The default user in github action dockerfiles (at the time of writing) seems to be 1001. This is what the yq github action is configured to run with (see the docker file here)
There's a working example defined here and you can see the Github action results here​
If you need to set the action to another user, follow the advice here.

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Guide

Troubleshooting

Write in-place file permission errors