Automatic merge from submit-queue (batch tested with PRs 55511, 63372, 63400, 63100, 63769). 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>.

Improve kubeadm upgrade path for CoreDNS

**What this PR does / why we need it**:
This PR achieves the following:
1. Retains the CoreDNS ConfigMap defined by the user during `kubeadm upgrade`.
2. Removes the CoreDNS deployment when user decides to install kube-dns during `kubeadm upgrade`.


**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 #

**Special notes for your reviewer**:

**Release note**:

```release-note
NONE
```