[CI] Add minimal testing for legacy Torch versions

[DN6]

What does this PR do?

Imports in the TorchAO PR: #10009 broke Diffusers imports for torch<2.3. Adding minimal testing to the nightly and release tests with a torch 2.1 image to catch issues such as this.

Fixes # (issue)

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[sayakpaul]

LGTM! Do we want to do something similar for torch < 2.0?