Automatic merge from submit-queue (batch tested with PRs 61894, 61369). 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>.

Expose kubelet health checks using new prometheus endpoint

**What this PR does / why we need it**:
Expose the results of kubelet liveness and readiness probes through a new endpoint on the kubelet called /containerHealth. This endpoint will expose a Prometheus metric. Below is a snippet of output when that endpoint is queried.

```
rramkumar@e2e-test-rramkumar-master ~ $ curl localhost:10255/metrics/probes
# HELP prober_probe_result The result of a liveness or readiness probe for a container.
# TYPE prober_probe_result gauge
prober_probe_result{container_name="kube-apiserver",namespace="kube-system",pod_name="kube-apiserver-e2e-test-rramkumar-master",pod_uid="949e11ad296ad9e3c842fd900f8cc723",probe_type="Liveness"} 0
prober_probe_result{container_name="kube-controller-manager",namespace="kube-system",pod_name="kube-controller-manager-e2e-test-rramkumar-master",pod_uid="0abfc37840bba279706ec39ae53a924c",probe_type="Liveness"} 0
prober_probe_result{container_name="kube-scheduler",namespace="kube-system",pod_name="kube-scheduler-e2e-test-rramkumar-master",pod_uid="0cd4171f9c806808291e6e24f99f0454",probe_type="Liveness"} 0
prober_probe_result{container_name="l7-lb-controller",namespace="kube-system",pod_name="l7-lb-controller-v0.9.8-alpha.2-e2e-test-rramkumar-master",pod_uid="968c792f4c1772566c71403dca2407f9",probe_type="Liveness"} 0
```

**Which issue(s) this PR fixes** *(optional, in `fixes #<issue number>(, fixes #<issue_number>, ...)` format, will close the issue(s) when PR gets merged)*:
Fixes #58235



**Release note**:
```release-note
Kubelet now exposes a new endpoint /metrics/probes which exposes a Prometheus metric containing the liveness and/or readiness probe results for a container.
```