Refactor control plane upgrades with reconfiguration support (#12015)

* Refactor control plane upgrades with reconfiguration support

Adds revised support for:
- The previously removed `--config` argument for `kubeadm upgrade apply`
- Changes to `ClusterConfiguration` as part of the `upgrade-cluster.yml` playbook lifecycle
- kubeadm-config `v1beta4` `UpgradeConfiguration` for the `kubeadm upgrade apply` command: [UpgradeConfiguration v1beta4](https://kubernetes.io/docs/reference/config-api/kubeadm-config.v1beta4/#kubeadm-k8s-io-v1beta4-UpgradeConfiguration).

* Add kubeadm upgrade node support

Per discussion:
- Use `kubeadm upgrade node` on secondary control plane upgrades
- Add support for UpgradeConfiguration.node in kubeadm-config.v1beta4
- Remove redundant `allowRCUpgrades` config
- Revert from `block` for first and secondary control plane back to unblocked tasks since they no longer share much code and it's more readable this way

* Add kubelet and kube-proxy reconfiguration to upgrades

* Fix task to use `kubeadm init phase etcd local`

* Rebase with changes from "Adapt checksums and versions to new hashes updater" PR

* Add `imagePullPolicy` and `imagePullSerial` to kubeadm-config v1beta4 `InitConfiguration.nodeRegistration`