How to implement accessibility linting in GitHub actions?

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I want to upgrade our GitHub workflows with accessibility linting based on WCAG 2.1. If it's possible I want to define the level too like AA.

I don't want to run a full test on a website, only make a quick linting on the pull requests. The whole site testing will be the next step, but now I want to focusing to pull requests only.

I checked pa11y and several repos based on this, but as I see this solution can test only a working website and not a pull request.

Is there any working solution for this?

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