Automatic merge from submit-queue (batch tested with PRs 55986, 59375, 59334, 59348, 58027). 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>.

certs: allow cert controller to delete csrs

This should have been changed as part of #51840.

Fixes https://github.com/kubernetes/kubernetes/issues/59351
```release-note
Fix RBAC role for certificate controller to allow cleaning.
```