Automatic merge from submit-queue (batch tested with PRs 56390, 56334, 55572, 55598, 56563). 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>.

apimachinery: improve error handling for unstructured helpers

Improve error handling for unstructured helpers to give more information - if the field is missing or a wrong type exists. (taken from https://github.com/kubernetes/kubernetes/pull/55168)

**Release note**:

```release-note
NONE
```

/assign sttts ash2k