Automatic merge from submit-queue (batch tested with PRs 55648, 55274, 54982, 51955, 55639). 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>.

kubeadm:Clean up no longer used k8sVersion param

**What this PR does / why we need it**:
 cleanup for kubeadm.

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


**Special notes for your reviewer**:
/cc @luxas

**Release note**:

```release-note
NONE
```
~~`kubeadm join` now requires the `--discovery-token-ca-cert-hash` argument to be set, or the `--discovery-token-unsafe-skip-ca-verification` flag to be set for opting out of the CA pinning feature.~~