Revert CI changes made in #2526
Revert CI changes made in #2526

We briefly disabled `pip-audit` on PRs to get the release PR to pass, as https://github.com/trailofbits/pip-audit/issues/81 hasn't been merged yet and the version of Manticore we told it to look at hadn't been published to PyPI yet.
trailofbits/manticore,trailofbits/manticore,trailofbits/manticore