Automatic merge from submit-queue

Implement streaming CRI methods in dockershim

*NOTE: Temporarily includes commit from https://github.com/kubernetes/kubernetes/pull/35330 - only review the second commit.*

Builds on https://github.com/kubernetes/kubernetes/pull/35330, using the library to implement the streaming methods in various CRI shims.

This does not actually wire up the new streaming methods in the kubelet (that will be my next PR). Once the new methods are wired up, I will delete the `Legacy{Exec,Attach,PortForward}` methods.

/cc @kubernetes/sig-node @feiskyer