diff --git a/cmd/kubeadm/app/componentconfigs/configset_test.go b/cmd/kubeadm/app/componentconfigs/configset_test.go
index 1a62b3a931d..cfa2837d199 100644
--- a/cmd/kubeadm/app/componentconfigs/configset_test.go
+++ b/cmd/kubeadm/app/componentconfigs/configset_test.go
@@ -26,27 +26,17 @@ import (
 
 	kubeadmapi "k8s.io/kubernetes/cmd/kubeadm/app/apis/kubeadm"
 	"k8s.io/kubernetes/cmd/kubeadm/app/constants"
-	"k8s.io/kubernetes/cmd/kubeadm/app/features"
 	kubeadmutil "k8s.io/kubernetes/cmd/kubeadm/app/util"
 )
 
-// TODO: cleanup after UnversionedKubeletConfigMap goes GA:
-// https://github.com/kubernetes/kubeadm/issues/1582
-func testClusterCfg(legacyKubeletConfigMap bool) *kubeadmapi.ClusterConfiguration {
-	if legacyKubeletConfigMap {
-		return &kubeadmapi.ClusterConfiguration{
-			KubernetesVersion: constants.CurrentKubernetesVersion.String(),
-		}
-	}
+func testClusterCfg() *kubeadmapi.ClusterConfiguration {
 	return &kubeadmapi.ClusterConfiguration{
 		KubernetesVersion: constants.CurrentKubernetesVersion.String(),
-		FeatureGates:      map[string]bool{features.UnversionedKubeletConfigMap: true},
 	}
 }
 
 func TestDefault(t *testing.T) {
-	legacyKubeletConfigMap := false
-	clusterCfg := testClusterCfg(legacyKubeletConfigMap)
+	clusterCfg := testClusterCfg()
 	localAPIEndpoint := &kubeadmapi.APIEndpoint{}
 	nodeRegOps := &kubeadmapi.NodeRegistrationOptions{}
 
@@ -66,11 +56,10 @@ func TestFromCluster(t *testing.T) {
 		testKubeletConfigMap(`
 			apiVersion: kubelet.config.k8s.io/v1beta1
 			kind: KubeletConfiguration
-		`, false),
+		`),
 	}
 	client := clientsetfake.NewSimpleClientset(objects...)
-	legacyKubeletConfigMap := false
-	clusterCfg := testClusterCfg(legacyKubeletConfigMap)
+	clusterCfg := testClusterCfg()
 
 	if err := FetchFromCluster(clusterCfg, client); err != nil {
 		t.Fatalf("FetchFromCluster failed: %v", err)
@@ -79,30 +68,6 @@ func TestFromCluster(t *testing.T) {
 	if len(clusterCfg.ComponentConfigs) != len(objects) {
 		t.Fatalf("mismatch between supplied and loaded type numbers:\n\tgot: %d\n\texpected: %d", len(clusterCfg.ComponentConfigs), len(objects))
 	}
-
-	// TODO: cleanup the legacy case below after UnversionedKubeletConfigMap goes GA:
-	// https://github.com/kubernetes/kubeadm/issues/1582
-	objectsLegacyKubelet := []runtime.Object{
-		testKubeProxyConfigMap(`
-			apiVersion: kubeproxy.config.k8s.io/v1alpha1
-			kind: KubeProxyConfiguration
-		`),
-		testKubeletConfigMap(`
-			apiVersion: kubelet.config.k8s.io/v1beta1
-			kind: KubeletConfiguration
-		`, true),
-	}
-	clientLegacyKubelet := clientsetfake.NewSimpleClientset(objectsLegacyKubelet...)
-	legacyKubeletConfigMap = true
-	clusterCfgLegacyKubelet := testClusterCfg(legacyKubeletConfigMap)
-
-	if err := FetchFromCluster(clusterCfgLegacyKubelet, clientLegacyKubelet); err != nil {
-		t.Fatalf("FetchFromCluster failed: %v", err)
-	}
-
-	if len(clusterCfgLegacyKubelet.ComponentConfigs) != len(objectsLegacyKubelet) {
-		t.Fatalf("mismatch between supplied and loaded type numbers:\n\tgot: %d\n\texpected: %d", len(clusterCfg.ComponentConfigs), len(objects))
-	}
 }
 
 func TestFetchFromDocumentMap(t *testing.T) {
@@ -118,8 +83,7 @@ func TestFetchFromDocumentMap(t *testing.T) {
 		t.Fatalf("unexpected failure of SplitYAMLDocuments: %v", err)
 	}
 
-	legacyKubeletConfigMap := false
-	clusterCfg := testClusterCfg(legacyKubeletConfigMap)
+	clusterCfg := testClusterCfg()
 	if err = FetchFromDocumentMap(clusterCfg, gvkmap); err != nil {
 		t.Fatalf("FetchFromDocumentMap failed: %v", err)
 	}
diff --git a/cmd/kubeadm/app/componentconfigs/fakeconfig_test.go b/cmd/kubeadm/app/componentconfigs/fakeconfig_test.go
index 72267b968cb..520246c9a30 100644
--- a/cmd/kubeadm/app/componentconfigs/fakeconfig_test.go
+++ b/cmd/kubeadm/app/componentconfigs/fakeconfig_test.go
@@ -361,8 +361,7 @@ func TestGeneratedConfigFromCluster(t *testing.T) {
 				}
 
 				client := clientsetfake.NewSimpleClientset(configMap)
-				legacyKubeletConfigMap := true
-				cfg, err := clusterConfigHandler.FromCluster(client, testClusterCfg(legacyKubeletConfigMap))
+				cfg, err := clusterConfigHandler.FromCluster(client, testClusterCfg())
 				if err != nil {
 					t.Fatalf("unexpected failure of FromCluster: %v", err)
 				}
@@ -487,8 +486,7 @@ func TestLoadingFromCluster(t *testing.T) {
 			testClusterConfigMap(in, false),
 		)
 
-		legacyKubeletConfigMap := true
-		return clusterConfigHandler.FromCluster(client, testClusterCfg(legacyKubeletConfigMap))
+		return clusterConfigHandler.FromCluster(client, testClusterCfg())
 	})
 }
 
@@ -581,8 +579,7 @@ func TestFetchFromClusterWithLocalOverwrites(t *testing.T) {
 					t.Fatalf("unexpected failure of SplitYAMLDocuments: %v", err)
 				}
 
-				legacyKubeletConfigMap := true
-				clusterCfg := testClusterCfg(legacyKubeletConfigMap)
+				clusterCfg := testClusterCfg()
 
 				err = FetchFromClusterWithLocalOverwrites(clusterCfg, client, docmap)
 				if err != nil {
@@ -716,8 +713,7 @@ func TestGetVersionStates(t *testing.T) {
 					t.Fatalf("unexpected failure of SplitYAMLDocuments: %v", err)
 				}
 
-				legacyKubeletConfigMap := true
-				clusterCfg := testClusterCfg(legacyKubeletConfigMap)
+				clusterCfg := testClusterCfg()
 
 				got, err := GetVersionStates(clusterCfg, client, docmap)
 				if err != nil {
diff --git a/cmd/kubeadm/app/componentconfigs/kubelet.go b/cmd/kubeadm/app/componentconfigs/kubelet.go
index 65b2d08ce42..5c000574570 100644
--- a/cmd/kubeadm/app/componentconfigs/kubelet.go
+++ b/cmd/kubeadm/app/componentconfigs/kubelet.go
@@ -20,7 +20,6 @@ import (
 	"path/filepath"
 
 	"github.com/pkg/errors"
-	"k8s.io/apimachinery/pkg/util/version"
 	clientset "k8s.io/client-go/kubernetes"
 	"k8s.io/klog/v2"
 	kubeletconfig "k8s.io/kubelet/config/v1beta1"
@@ -71,29 +70,12 @@ var kubeletHandler = handler{
 }
 
 func kubeletConfigFromCluster(h *handler, clientset clientset.Interface, clusterCfg *kubeadmapi.ClusterConfiguration) (kubeadmapi.ComponentConfig, error) {
-	// Read the ConfigMap from the cluster based on what version the kubelet is
-	k8sVersion, err := version.ParseGeneric(clusterCfg.KubernetesVersion)
-	if err != nil {
-		return nil, err
-	}
-
-	// TODO: https://github.com/kubernetes/kubeadm/issues/1582
-	// During the first "kubeadm upgrade apply" when the feature gate goes "true" by default and
-	// a preferred user value is missing in the ClusterConfiguration, "kubeadm upgrade apply" will try
-	// to fetch using the new format and that CM will not exist yet.
-	// Tollerate both the old a new format until UnversionedKubeletConfigMap goes GA and is locked.
-	// This makes it easier for the users and the code base (avoids changes in /cmd/upgrade/common.go#enforceRequirements).
-	configMapNameLegacy := constants.GetKubeletConfigMapName(k8sVersion, true)
-	configMapName := constants.GetKubeletConfigMapName(k8sVersion, false)
-	klog.V(1).Infof("attempting to download the KubeletConfiguration from the new format location (UnversionedKubeletConfigMap=true)")
+	configMapName := constants.KubeletBaseConfigurationConfigMap
+	klog.V(1).Infof("attempting to download the KubeletConfiguration from ConfigMap %q", configMapName)
 	cm, err := h.fromConfigMap(clientset, configMapName, constants.KubeletBaseConfigurationConfigMapKey, true)
 	if err != nil {
-		klog.V(1).Infof("attempting to download the KubeletConfiguration from the DEPRECATED location (UnversionedKubeletConfigMap=false)")
-		cm, err = h.fromConfigMap(clientset, configMapNameLegacy, constants.KubeletBaseConfigurationConfigMapKey, true)
-		if err != nil {
-			return nil, errors.Wrapf(err, "could not download the kubelet configuration from ConfigMap %q or %q",
-				configMapName, configMapNameLegacy)
-		}
+		return nil, errors.Wrapf(err, "could not download the kubelet configuration from ConfigMap %q",
+			configMapName)
 	}
 	return cm, nil
 }
diff --git a/cmd/kubeadm/app/componentconfigs/kubelet_test.go b/cmd/kubeadm/app/componentconfigs/kubelet_test.go
index 3b2513df9fd..7f68931f9d2 100644
--- a/cmd/kubeadm/app/componentconfigs/kubelet_test.go
+++ b/cmd/kubeadm/app/componentconfigs/kubelet_test.go
@@ -36,12 +36,10 @@ import (
 	"k8s.io/kubernetes/cmd/kubeadm/app/constants"
 )
 
-// TODO: cleanup after UnversionedKubeletConfigMap goes GA:
-// https://github.com/kubernetes/kubeadm/issues/1582
-func testKubeletConfigMap(contents string, legacyKubeletConfigMap bool) *v1.ConfigMap {
+func testKubeletConfigMap(contents string) *v1.ConfigMap {
 	return &v1.ConfigMap{
 		ObjectMeta: metav1.ObjectMeta{
-			Name:      constants.GetKubeletConfigMapName(constants.CurrentKubernetesVersion, legacyKubeletConfigMap),
+			Name:      constants.KubeletBaseConfigurationConfigMap,
 			Namespace: metav1.NamespaceSystem,
 		},
 		Data: map[string]string{
@@ -285,16 +283,8 @@ func TestKubeletFromDocumentMap(t *testing.T) {
 func TestKubeletFromCluster(t *testing.T) {
 	runKubeletFromTest(t, func(_ schema.GroupVersionKind, yaml string) (kubeadmapi.ComponentConfig, error) {
 		client := clientsetfake.NewSimpleClientset(
-			testKubeletConfigMap(yaml, true),
+			testKubeletConfigMap(yaml),
 		)
-		legacyKubeletConfigMap := true
-		return kubeletHandler.FromCluster(client, testClusterCfg(legacyKubeletConfigMap))
-	})
-	runKubeletFromTest(t, func(_ schema.GroupVersionKind, yaml string) (kubeadmapi.ComponentConfig, error) {
-		client := clientsetfake.NewSimpleClientset(
-			testKubeletConfigMap(yaml, false),
-		)
-		legacyKubeletConfigMap := false
-		return kubeletHandler.FromCluster(client, testClusterCfg(legacyKubeletConfigMap))
+		return kubeletHandler.FromCluster(client, testClusterCfg())
 	})
 }
diff --git a/cmd/kubeadm/app/componentconfigs/kubeproxy_test.go b/cmd/kubeadm/app/componentconfigs/kubeproxy_test.go
index 95310721f85..eb9cb39c18c 100644
--- a/cmd/kubeadm/app/componentconfigs/kubeproxy_test.go
+++ b/cmd/kubeadm/app/componentconfigs/kubeproxy_test.go
@@ -163,7 +163,6 @@ func TestKubeProxyFromCluster(t *testing.T) {
 			testKubeProxyConfigMap(yaml),
 		)
 
-		legacyKubeletConfigMap := true
-		return kubeProxyHandler.FromCluster(client, testClusterCfg(legacyKubeletConfigMap))
+		return kubeProxyHandler.FromCluster(client, testClusterCfg())
 	})
 }
diff --git a/cmd/kubeadm/app/constants/constants.go b/cmd/kubeadm/app/constants/constants.go
index 73eb2a7ada2..8dee81f024c 100644
--- a/cmd/kubeadm/app/constants/constants.go
+++ b/cmd/kubeadm/app/constants/constants.go
@@ -189,10 +189,6 @@ const (
 	// system:nodes group subject is removed if present.
 	NodesClusterRoleBinding = "system:node"
 
-	// KubeletBaseConfigMapRolePrefix defines the base kubelet configuration ConfigMap.
-	// TODO: Remove once UnversionedKubeletConfigMap graduates to GA:
-	// https://github.com/kubernetes/kubeadm/issues/1582
-	KubeletBaseConfigMapRolePrefix = "kubeadm:kubelet-config-"
 	// KubeletBaseConfigMapRolePrefix defines the base kubelet configuration ConfigMap.
 	KubeletBaseConfigMapRole = "kubeadm:kubelet-config"
 	// KubeProxyClusterRoleBindingName sets the name for the kube-proxy CluterRoleBinding
@@ -286,11 +282,6 @@ const (
 	// KubeProxyConfigMapKey specifies in what ConfigMap key the component config of kube-proxy should be stored
 	KubeProxyConfigMapKey = "config.conf"
 
-	// KubeletBaseConfigurationConfigMapPrefix specifies in what ConfigMap in the kube-system namespace the initial remote configuration of kubelet should be stored
-	// TODO: Remove once UnversionedKubeletConfigMap graduates to GA:
-	// https://github.com/kubernetes/kubeadm/issues/1582
-	KubeletBaseConfigurationConfigMapPrefix = "kubelet-config-"
-
 	// KubeletBaseConfigurationConfigMap specifies in what ConfigMap in the kube-system namespace the initial remote configuration of kubelet should be stored
 	KubeletBaseConfigurationConfigMap = "kubelet-config"
 
@@ -698,13 +689,3 @@ func GetAPIServerVirtualIP(svcSubnetList string) (net.IP, error) {
 	}
 	return internalAPIServerVirtualIP, nil
 }
-
-// GetKubeletConfigMapName returns the right ConfigMap name for the right branch of k8s
-// TODO: Remove the legacy arg once UnversionedKubeletConfigMap graduates to GA:
-// https://github.com/kubernetes/kubeadm/issues/1582
-func GetKubeletConfigMapName(k8sVersion *version.Version, legacy bool) string {
-	if !legacy {
-		return KubeletBaseConfigurationConfigMap
-	}
-	return fmt.Sprintf("%s%d.%d", KubeletBaseConfigurationConfigMapPrefix, k8sVersion.Major(), k8sVersion.Minor())
-}
diff --git a/cmd/kubeadm/app/features/features.go b/cmd/kubeadm/app/features/features.go
index 90c4663df1b..b77a7d305c3 100644
--- a/cmd/kubeadm/app/features/features.go
+++ b/cmd/kubeadm/app/features/features.go
@@ -33,7 +33,7 @@ const (
 	PublicKeysECDSA = "PublicKeysECDSA"
 	// RootlessControlPlane is expected to be in alpha in v1.22
 	RootlessControlPlane = "RootlessControlPlane"
-	// UnversionedKubeletConfigMap is expected to be beta in 1.24
+	// UnversionedKubeletConfigMap is expected to be GA in 1.25
 	UnversionedKubeletConfigMap = "UnversionedKubeletConfigMap"
 )
 
@@ -41,7 +41,7 @@ const (
 var InitFeatureGates = FeatureList{
 	PublicKeysECDSA:             {FeatureSpec: featuregate.FeatureSpec{Default: false, PreRelease: featuregate.Alpha}},
 	RootlessControlPlane:        {FeatureSpec: featuregate.FeatureSpec{Default: false, PreRelease: featuregate.Alpha}},
-	UnversionedKubeletConfigMap: {FeatureSpec: featuregate.FeatureSpec{Default: true, PreRelease: featuregate.Beta}},
+	UnversionedKubeletConfigMap: {FeatureSpec: featuregate.FeatureSpec{Default: true, PreRelease: featuregate.Beta, LockToDefault: true}},
 }
 
 // Feature represents a feature being gated
diff --git a/cmd/kubeadm/app/phases/kubelet/config.go b/cmd/kubeadm/app/phases/kubelet/config.go
index 8ef11d60d68..f64e93364e9 100644
--- a/cmd/kubeadm/app/phases/kubelet/config.go
+++ b/cmd/kubeadm/app/phases/kubelet/config.go
@@ -26,13 +26,11 @@ import (
 	v1 "k8s.io/api/core/v1"
 	rbac "k8s.io/api/rbac/v1"
 	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
-	"k8s.io/apimachinery/pkg/util/version"
 	clientset "k8s.io/client-go/kubernetes"
 
 	kubeadmapi "k8s.io/kubernetes/cmd/kubeadm/app/apis/kubeadm"
 	"k8s.io/kubernetes/cmd/kubeadm/app/componentconfigs"
 	kubeadmconstants "k8s.io/kubernetes/cmd/kubeadm/app/constants"
-	"k8s.io/kubernetes/cmd/kubeadm/app/features"
 	"k8s.io/kubernetes/cmd/kubeadm/app/util/apiclient"
 )
 
@@ -59,23 +57,8 @@ func WriteConfigToDisk(cfg *kubeadmapi.ClusterConfiguration, kubeletDir string)
 // CreateConfigMap creates a ConfigMap with the generic kubelet configuration.
 // Used at "kubeadm init" and "kubeadm upgrade" time
 func CreateConfigMap(cfg *kubeadmapi.ClusterConfiguration, client clientset.Interface) error {
-
-	k8sVersion, err := version.ParseSemantic(cfg.KubernetesVersion)
-	if err != nil {
-		return err
-	}
-
-	// TODO: cleanup after UnversionedKubeletConfigMap goes GA:
-	// https://github.com/kubernetes/kubeadm/issues/1582
-	legacyKubeletCM := !features.Enabled(cfg.FeatureGates, features.UnversionedKubeletConfigMap)
-	configMapName := kubeadmconstants.GetKubeletConfigMapName(k8sVersion, legacyKubeletCM)
+	configMapName := kubeadmconstants.KubeletBaseConfigurationConfigMap
 	fmt.Printf("[kubelet] Creating a ConfigMap %q in namespace %s with the configuration for the kubelets in the cluster\n", configMapName, metav1.NamespaceSystem)
-	if legacyKubeletCM {
-		fmt.Printf("NOTE: The %q naming of the kubelet ConfigMap is deprecated. "+
-			"Once the UnversionedKubeletConfigMap feature gate graduates to Beta the default name will become just %q. "+
-			"Kubeadm upgrade will handle this transition transparently.\n",
-			configMapName, kubeadmconstants.KubeletBaseConfigurationConfigMap)
-	}
 
 	kubeletCfg, ok := cfg.ComponentConfigs[componentconfigs.KubeletGroup]
 	if !ok {
@@ -105,19 +88,17 @@ func CreateConfigMap(cfg *kubeadmapi.ClusterConfiguration, client clientset.Inte
 		return err
 	}
 
-	if err := createConfigMapRBACRules(client, k8sVersion, legacyKubeletCM); err != nil {
+	if err := createConfigMapRBACRules(client); err != nil {
 		return errors.Wrap(err, "error creating kubelet configuration configmap RBAC rules")
 	}
 	return nil
 }
 
 // createConfigMapRBACRules creates the RBAC rules for exposing the base kubelet ConfigMap in the kube-system namespace to unauthenticated users
-// TODO: Remove the legacy arg once UnversionedKubeletConfigMap graduates to GA:
-// https://github.com/kubernetes/kubeadm/issues/1582
-func createConfigMapRBACRules(client clientset.Interface, k8sVersion *version.Version, legacy bool) error {
+func createConfigMapRBACRules(client clientset.Interface) error {
 	if err := apiclient.CreateOrUpdateRole(client, &rbac.Role{
 		ObjectMeta: metav1.ObjectMeta{
-			Name:      configMapRBACName(k8sVersion, legacy),
+			Name:      kubeadmconstants.KubeletBaseConfigMapRole,
 			Namespace: metav1.NamespaceSystem,
 		},
 		Rules: []rbac.PolicyRule{
@@ -125,7 +106,7 @@ func createConfigMapRBACRules(client clientset.Interface, k8sVersion *version.Ve
 				Verbs:         []string{"get"},
 				APIGroups:     []string{""},
 				Resources:     []string{"configmaps"},
-				ResourceNames: []string{kubeadmconstants.GetKubeletConfigMapName(k8sVersion, legacy)},
+				ResourceNames: []string{kubeadmconstants.KubeletBaseConfigurationConfigMap},
 			},
 		},
 	}); err != nil {
@@ -134,13 +115,13 @@ func createConfigMapRBACRules(client clientset.Interface, k8sVersion *version.Ve
 
 	return apiclient.CreateOrUpdateRoleBinding(client, &rbac.RoleBinding{
 		ObjectMeta: metav1.ObjectMeta{
-			Name:      configMapRBACName(k8sVersion, legacy),
+			Name:      kubeadmconstants.KubeletBaseConfigMapRole,
 			Namespace: metav1.NamespaceSystem,
 		},
 		RoleRef: rbac.RoleRef{
 			APIGroup: rbac.GroupName,
 			Kind:     "Role",
-			Name:     configMapRBACName(k8sVersion, legacy),
+			Name:     kubeadmconstants.KubeletBaseConfigMapRole,
 		},
 		Subjects: []rbac.Subject{
 			{
@@ -155,16 +136,6 @@ func createConfigMapRBACRules(client clientset.Interface, k8sVersion *version.Ve
 	})
 }
 
-// configMapRBACName returns the name for the Role/RoleBinding for the kubelet config configmap for the right branch of k8s
-// TODO: Remove the legacy arg once UnversionedKubeletConfigMap graduates to GA:
-// https://github.com/kubernetes/kubeadm/issues/1582
-func configMapRBACName(k8sVersion *version.Version, legacy bool) string {
-	if !legacy {
-		return kubeadmconstants.KubeletBaseConfigMapRole
-	}
-	return fmt.Sprintf("%s%d.%d", kubeadmconstants.KubeletBaseConfigMapRolePrefix, k8sVersion.Major(), k8sVersion.Minor())
-}
-
 // writeConfigBytesToDisk writes a byte slice down to disk at the specific location of the kubelet config file
 func writeConfigBytesToDisk(b []byte, kubeletDir string) error {
 	configFile := filepath.Join(kubeletDir, kubeadmconstants.KubeletConfigurationFileName)
diff --git a/cmd/kubeadm/app/phases/kubelet/config_test.go b/cmd/kubeadm/app/phases/kubelet/config_test.go
index 85b9acddc0a..00ce6acd83e 100644
--- a/cmd/kubeadm/app/phases/kubelet/config_test.go
+++ b/cmd/kubeadm/app/phases/kubelet/config_test.go
@@ -22,7 +22,6 @@ import (
 	v1 "k8s.io/api/core/v1"
 	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
 	"k8s.io/apimachinery/pkg/runtime"
-	"k8s.io/apimachinery/pkg/util/version"
 	"k8s.io/client-go/kubernetes/fake"
 	core "k8s.io/client-go/testing"
 
@@ -69,7 +68,7 @@ func TestCreateConfigMapRBACRules(t *testing.T) {
 		return true, nil, nil
 	})
 
-	if err := createConfigMapRBACRules(client, version.MustParseSemantic("v1.11.0"), false); err != nil {
+	if err := createConfigMapRBACRules(client); err != nil {
 		t.Errorf("createConfigMapRBACRules: unexpected error %v", err)
 	}
 }
diff --git a/cmd/kubeadm/app/util/config/cluster_test.go b/cmd/kubeadm/app/util/config/cluster_test.go
index 5cc43a5db17..335cea083db 100644
--- a/cmd/kubeadm/app/util/config/cluster_test.go
+++ b/cmd/kubeadm/app/util/config/cluster_test.go
@@ -32,7 +32,6 @@ import (
 	apierrors "k8s.io/apimachinery/pkg/api/errors"
 	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
 	"k8s.io/apimachinery/pkg/runtime"
-	"k8s.io/apimachinery/pkg/util/version"
 	"k8s.io/apimachinery/pkg/util/wait"
 	clientsetfake "k8s.io/client-go/kubernetes/fake"
 	clienttesting "k8s.io/client-go/testing"
@@ -46,7 +45,6 @@ import (
 )
 
 var k8sVersionString = kubeadmconstants.MinimumControlPlaneVersion.String()
-var k8sVersion = version.MustParseGeneric(k8sVersionString)
 var nodeName = "mynode"
 var cfgFiles = map[string][]byte{
 	"InitConfiguration_v1beta2": []byte(fmt.Sprintf(`
@@ -544,7 +542,7 @@ func TestGetInitConfigurationFromCluster(t *testing.T) {
 					},
 				},
 				{
-					Name: kubeadmconstants.GetKubeletConfigMapName(k8sVersion, false), // Kubelet component config from corresponding ConfigMap.
+					Name: kubeadmconstants.KubeletBaseConfigurationConfigMap, // Kubelet component config from corresponding ConfigMap.
 					Data: map[string]string{
 						kubeadmconstants.KubeletBaseConfigurationConfigMapKey: string(cfgFiles["Kubelet_componentconfig"]),
 					},
@@ -588,7 +586,7 @@ func TestGetInitConfigurationFromCluster(t *testing.T) {
 					},
 				},
 				{
-					Name: kubeadmconstants.GetKubeletConfigMapName(k8sVersion, false), // Kubelet component config from corresponding ConfigMap.
+					Name: kubeadmconstants.KubeletBaseConfigurationConfigMap, // Kubelet component config from corresponding ConfigMap.
 					Data: map[string]string{
 						kubeadmconstants.KubeletBaseConfigurationConfigMapKey: string(cfgFiles["Kubelet_componentconfig"]),
 					},
@@ -621,7 +619,7 @@ func TestGetInitConfigurationFromCluster(t *testing.T) {
 					},
 				},
 				{
-					Name: kubeadmconstants.GetKubeletConfigMapName(k8sVersion, false), // Kubelet component config from corresponding ConfigMap.
+					Name: kubeadmconstants.KubeletBaseConfigurationConfigMap, // Kubelet component config from corresponding ConfigMap.
 					Data: map[string]string{
 						kubeadmconstants.KubeletBaseConfigurationConfigMapKey: string(cfgFiles["Kubelet_componentconfig"]),
 					},
@@ -665,7 +663,7 @@ func TestGetInitConfigurationFromCluster(t *testing.T) {
 					},
 				},
 				{
-					Name: kubeadmconstants.GetKubeletConfigMapName(k8sVersion, false), // Kubelet component config from corresponding ConfigMap.
+					Name: kubeadmconstants.KubeletBaseConfigurationConfigMap, // Kubelet component config from corresponding ConfigMap.
 					Data: map[string]string{
 						kubeadmconstants.KubeletBaseConfigurationConfigMapKey: string(cfgFiles["Kubelet_componentconfig"]),
 					},
diff --git a/test/e2e_kubeadm/kubelet_config_test.go b/test/e2e_kubeadm/kubelet_config_test.go
index 7ccc778d360..d109a786cbb 100644
--- a/test/e2e_kubeadm/kubelet_config_test.go
+++ b/test/e2e_kubeadm/kubelet_config_test.go
@@ -17,12 +17,7 @@ limitations under the License.
 package kubeadm
 
 import (
-	"context"
-	"fmt"
-
 	rbacv1 "k8s.io/api/rbac/v1"
-	metav1 "k8s.io/apimachinery/pkg/apis/meta/v1"
-	"k8s.io/apimachinery/pkg/util/version"
 	"k8s.io/kubernetes/test/e2e/framework"
 	admissionapi "k8s.io/pod-security-admission/api"
 
@@ -38,13 +33,6 @@ var (
 	kubeletConfigConfigMapName   string
 	kubeletConfigRoleName        string
 	kubeletConfigRoleBindingName string
-
-	// TODO: remove these versioned strings and related logic once the UnversionedKubeletConfigMap
-	// feature gate goes GA:
-	// https://github.com/kubernetes/kubeadm/issues/1582
-	kubeletConfigConfigMapNameVersioned   string
-	kubeletConfigRoleNameVersioned        string
-	kubeletConfigRoleBindingNameVersioned string
 )
 
 // Define container for all the test specification aimed at verifying
@@ -68,68 +56,19 @@ var _ = Describe("kubelet-config ConfigMap", func() {
 			return
 		}
 
-		// gets the ClusterConfiguration from the kubeadm kubeadm-config ConfigMap as a untyped map
-		m := getClusterConfiguration(f.ClientSet)
-
-		// Extract the kubernetesVersion
-		// TODO: remove this after the UnversionedKubeletConfigMap feature gate goes GA:
-		// https://github.com/kubernetes/kubeadm/issues/1582
-		// At that point parsing the k8s version will no longer be needed in this test.
-		gomega.Expect(m).To(gomega.HaveKey("kubernetesVersion"))
-		k8sVersionString := m["kubernetesVersion"].(string)
-		k8sVersion, err := version.ParseSemantic(k8sVersionString)
-		if err != nil {
-			framework.Failf("error reading kubernetesVersion from %s ConfigMap: %v", kubeadmConfigName, err)
-		}
-
 		kubeletConfigConfigMapName = "kubelet-config"
 		kubeletConfigRoleName = "kubeadm:kubelet-config"
 		kubeletConfigRoleBindingName = kubeletConfigRoleName
-
-		kubeletConfigConfigMapNameVersioned = fmt.Sprintf("kubelet-config-%d.%d", k8sVersion.Major(), k8sVersion.Minor())
-		kubeletConfigRoleNameVersioned = fmt.Sprintf("kubeadm:kubelet-config-%d.%d", k8sVersion.Major(), k8sVersion.Minor())
-		kubeletConfigRoleBindingNameVersioned = kubeletConfigRoleNameVersioned
 	})
 
 	ginkgo.It("should exist and be properly configured", func() {
-		// TODO: switch to GetConfigMap once UnversionedKubeletConfigMap feature gate goes GA:
-		// https://github.com/kubernetes/kubeadm/issues/1582
-		cm, err := f.ClientSet.CoreV1().
-			ConfigMaps(kubeSystemNamespace).
-			Get(context.TODO(), kubeletConfigConfigMapName, metav1.GetOptions{})
-		if err != nil {
-			cm, err = f.ClientSet.CoreV1().
-				ConfigMaps(kubeSystemNamespace).
-				Get(context.TODO(), kubeletConfigConfigMapNameVersioned, metav1.GetOptions{})
-			framework.ExpectNoError(err, "error getting ConfigMap %q or %q from namespace %q",
-				kubeletConfigConfigMapName, kubeletConfigConfigMapNameVersioned, kubeSystemNamespace)
-		}
+		cm := GetConfigMap(f.ClientSet, kubeSystemNamespace, kubeletConfigConfigMapName)
 		gomega.Expect(cm.Data).To(gomega.HaveKey(kubeletConfigConfigMapKey))
 	})
 
 	ginkgo.It("should have related Role and RoleBinding", func() {
-		// TODO: switch to ExpectRole(Binding) once UnversionedKubeletConfigMap feature gate goes GA:
-		// https://github.com/kubernetes/kubeadm/issues/1582
-		_, err := f.ClientSet.RbacV1().
-			Roles(kubeSystemNamespace).
-			Get(context.TODO(), kubeletConfigRoleName, metav1.GetOptions{})
-		if err != nil {
-			_, err = f.ClientSet.RbacV1().
-				Roles(kubeSystemNamespace).
-				Get(context.TODO(), kubeletConfigRoleNameVersioned, metav1.GetOptions{})
-			framework.ExpectNoError(err, "error getting Role %q or %q from namespace %q",
-				kubeletConfigRoleName, kubeletConfigRoleNameVersioned, kubeSystemNamespace)
-		}
-		_, err = f.ClientSet.RbacV1().
-			Roles(kubeSystemNamespace).
-			Get(context.TODO(), kubeletConfigRoleBindingName, metav1.GetOptions{})
-		if err != nil {
-			_, err = f.ClientSet.RbacV1().
-				Roles(kubeSystemNamespace).
-				Get(context.TODO(), kubeletConfigRoleBindingNameVersioned, metav1.GetOptions{})
-			framework.ExpectNoError(err, "error getting RoleBinding %q or %q from namespace %q",
-				kubeletConfigRoleBindingName, kubeletConfigRoleBindingNameVersioned, kubeSystemNamespace)
-		}
+		ExpectRole(f.ClientSet, kubeSystemNamespace, kubeletConfigRoleName)
+		ExpectRoleBinding(f.ClientSet, kubeSystemNamespace, kubeletConfigRoleBindingName)
 	})
 
 	ginkgo.It("should be accessible for bootstrap tokens", func() {