Merge pull request #53001 from ericchiang/oidc-refresh-token-error-message
Automatic merge from submit-queue (batch tested with PRs 51759, 53001, 52806). If you want to cherry-pick this change to another branch, please follow the instructions <a href="https://github.com/kubernetes/community/blob/master/contributors/devel/cherry-picks.md">here</a>..
oidc client auth: better error when refresh response is missing id_token
/kind cleanup
@kubernetes/sig-auth-pr-reviews
Updates https://github.com/kubernetes/kubernetes/issues/36847
```release-notes
NONE
```
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