Automatic merge from submit-queue (batch tested with PRs 54593, 54607, 54539, 54105). 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>.

Add HA feature gate and minVersion validation

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

As we add more feature gates, there might be occasions where a feature is only available on newer releases of K8s. If a user makes a mistake, we should notify them as soon as possible in the init procedure and not them go down the path of hard-to-debug component issues.

Specifically with HA, we ideally need the new `TaintNodesByCondition` (added in v1.8.0 but working in v1.9.0).

**Which issue this PR fixes:**

kubernetes/kubeadm#261
kubernetes/kubeadm#277

**Release note**:
```release-note
Feature gates now check minimum versions
```

/cc @kubernetes/sig-cluster-lifecycle-pr-reviews @luxas @timothysc