Merge pull request #36040 from bruceauyeung/add-master-address-desc-into-kubeadm-join-and-some-validations

Automatic merge from submit-queue

add master address into kubeadm join help message and some validations

**What this PR does / why we need it**:

1, add master address into kubeadm join help message. looks like :

>Usage:
>  kubeadm join <master address> [flags]

2, when user provides more than one master address, return an error.

3, since `kubeadm join` not only support ip addresses but also host names or domain names, so i delete the word `ip` from error message `must specify master ip address (see --help)`
Signed-off-by: bruceauyeung <ouyang.qinhua@zte.com.cn>