Put back scenario-test workflow

[mitsudome-r]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

We have removed the scenario-test check when we refactored docker build workflow: #6852

To make ensure minimal Autoware functionality per PR.

Purpose

Put back scenario-test workfllow

Possible approaches

Add scenario-test step for docker-build workflow

Definition of done

Scenario-test is running against PRs.