Automatic merge from submit-queue (batch tested with PRs 40703, 40093, 40618, 40659, 39810)

hack/verify-staging-imports.sh: print actual dependencies

Example:

```shell
$ hack/verify-staging-imports.sh
apiserver has a forbidden dependency:

  k8s.io/apiserver/pkg/admission imports k8s.io/apimachinery/pkg/api/errors
  k8s.io/apiserver/pkg/admission imports k8s.io/apimachinery/pkg/api/meta
  k8s.io/apiserver/pkg/admission imports k8s.io/apimachinery/pkg/runtime
  k8s.io/apiserver/pkg/admission imports k8s.io/apimachinery/pkg/runtime/schema
  k8s.io/apiserver/pkg/admission imports k8s.io/apimachinery/pkg/util/errors
  k8s.io/apiserver/pkg/admission imports k8s.io/apimachinery/pkg/util/sets
```