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Try in-cluster config before using localhost:8080

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

When starting an e2e test in a pod in a cluster, if the host is
not specified in the command line, we default to using
'http://127.0.0.1:8080' currently. We should be discovering the
host/port using the in-cluster config and using that if
possible.

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

Fixes #53894

**Special notes for your reviewer**:

**Release note**:

```release-note
NONE
```