Upgrade kubeadm API version to v1beta4

**What would you like to be cleaned**:

I would propose to upgrade our test-usage kubeadm resource API version (`kubeadm.k8s.io/v1beta3`) to `kubeadm.k8s.io/v1beta4`: https://github.com/search?q=repo%3Akubernetes-sigs%2Fkueue%20kubeadm.k8s.io%2Fv1beta3&type=code

**Why is this needed**:

Better dependency management.