tests/e2e: Added cluster rolling replacement strategy and tests

[akstron]

Adds e2e test infrastructure and tests for cluster-api/Kubeadm-style rolling replacement upgrades

The rolling replacement exercises:

1. Add a new learner running the target version (no local data)
2. Promote the learner to a voting member
3. Remove the old source-version member
4. Repeat until all targeted members are replaced

Fixes #20804.

[k8s-ci-robot]

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