kubeadm: use the helper NewValidJoin() in join.go
Instead of using kubeadmutil.CheckErr() in every single
phase of cmd.Run(), use a new helper function
NewValidJoin() that returns a single error.
This would improve the unit testing options for this file.
Otherwise any error in cmd.Run() will trigger an os.Exit()
as kubeadmutil.CheckErr() does that.
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