diff --git a/cmd/kubeadm/app/apis/kubeadm/types.go b/cmd/kubeadm/app/apis/kubeadm/types.go
index 870775251af..c21e1f893a9 100644
--- a/cmd/kubeadm/app/apis/kubeadm/types.go
+++ b/cmd/kubeadm/app/apis/kubeadm/types.go
@@ -218,7 +218,7 @@ type NodeRegistrationOptions struct {
 	Taints []v1.Taint
 
 	// KubeletExtraArgs passes through extra arguments to the kubelet. The arguments here are passed to the kubelet command line via the environment file
-	// kubeadm writes at runtime for the kubelet to source. This overrides the generic base-level configuration in the kubelet-config-1.X ConfigMap
+	// kubeadm writes at runtime for the kubelet to source. This overrides the generic base-level configuration in the kubelet-config ConfigMap
 	// Flags have higher priority when parsing. These values are local and specific to the node kubeadm is executing on.
 	// A key in this map is the flag name as it appears on the
 	// command line except without leading dash(es).
diff --git a/cmd/kubeadm/app/apis/kubeadm/v1beta2/types.go b/cmd/kubeadm/app/apis/kubeadm/v1beta2/types.go
index 61484b76277..30037e30d40 100644
--- a/cmd/kubeadm/app/apis/kubeadm/v1beta2/types.go
+++ b/cmd/kubeadm/app/apis/kubeadm/v1beta2/types.go
@@ -207,7 +207,7 @@ type NodeRegistrationOptions struct {
 	Taints []v1.Taint `json:"taints"`
 
 	// KubeletExtraArgs passes through extra arguments to the kubelet. The arguments here are passed to the kubelet command line via the environment file
-	// kubeadm writes at runtime for the kubelet to source. This overrides the generic base-level configuration in the kubelet-config-1.X ConfigMap
+	// kubeadm writes at runtime for the kubelet to source. This overrides the generic base-level configuration in the kubelet-config ConfigMap
 	// Flags have higher priority when parsing. These values are local and specific to the node kubeadm is executing on.
 	// A key in this map is the flag name as it appears on the
 	// command line except without leading dash(es).
diff --git a/cmd/kubeadm/app/apis/kubeadm/v1beta3/types.go b/cmd/kubeadm/app/apis/kubeadm/v1beta3/types.go
index 765ec8c740e..82ae10cc271 100644
--- a/cmd/kubeadm/app/apis/kubeadm/v1beta3/types.go
+++ b/cmd/kubeadm/app/apis/kubeadm/v1beta3/types.go
@@ -221,7 +221,7 @@ type NodeRegistrationOptions struct {
 	Taints []corev1.Taint `json:"taints"`
 
 	// KubeletExtraArgs passes through extra arguments to the kubelet. The arguments here are passed to the kubelet command line via the environment file
-	// kubeadm writes at runtime for the kubelet to source. This overrides the generic base-level configuration in the kubelet-config-1.X ConfigMap
+	// kubeadm writes at runtime for the kubelet to source. This overrides the generic base-level configuration in the kubelet-config ConfigMap
 	// Flags have higher priority when parsing. These values are local and specific to the node kubeadm is executing on.
 	// A key in this map is the flag name as it appears on the
 	// command line except without leading dash(es).
diff --git a/cmd/kubeadm/app/cmd/phases/init/uploadconfig.go b/cmd/kubeadm/app/cmd/phases/init/uploadconfig.go
index 504d6c83534..fc758beff9b 100644
--- a/cmd/kubeadm/app/cmd/phases/init/uploadconfig.go
+++ b/cmd/kubeadm/app/cmd/phases/init/uploadconfig.go
@@ -49,8 +49,8 @@ var (
 		`)
 
 	uploadKubeletConfigLongDesc = cmdutil.LongDesc(`
-		Upload kubelet configuration extracted from the kubeadm InitConfiguration object to a ConfigMap
-		of the form kubelet-config-1.X in the cluster, where X is the minor version of the current (API Server) Kubernetes version.
+		Upload the kubelet configuration extracted from the kubeadm InitConfiguration object
+		to a kubelet-config ConfigMap in the cluster
 		`)
 
 	uploadKubeletConfigExample = cmdutil.Examples(`
diff --git a/cmd/kubeadm/app/cmd/phases/upgrade/node/kubeletconfig.go b/cmd/kubeadm/app/cmd/phases/upgrade/node/kubeletconfig.go
index 4c218ee4204..22fd3bff625 100644
--- a/cmd/kubeadm/app/cmd/phases/upgrade/node/kubeletconfig.go
+++ b/cmd/kubeadm/app/cmd/phases/upgrade/node/kubeletconfig.go
@@ -41,9 +41,7 @@ import (
 
 var (
 	kubeletConfigLongDesc = cmdutil.LongDesc(`
-		Download the kubelet configuration from a ConfigMap of the form "kubelet-config-1.X" in the cluster,
-		where X is the minor version of the kubelet. kubeadm uses the KuberneteVersion field in the kubeadm-config
-		ConfigMap to determine what the _desired_ kubelet version is.
+		Download the kubelet configuration from the kubelet-config ConfigMap stored in the cluster
 		`)
 )
 
diff --git a/cmd/kubeadm/app/features/features.go b/cmd/kubeadm/app/features/features.go
index a52ecf928b3..90c4663df1b 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 alpha in 1.23
+	// UnversionedKubeletConfigMap is expected to be beta in 1.24
 	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: false, PreRelease: featuregate.Alpha}},
+	UnversionedKubeletConfigMap: {FeatureSpec: featuregate.FeatureSpec{Default: true, PreRelease: featuregate.Beta}},
 }
 
 // Feature represents a feature being gated
diff --git a/cmd/kubeadm/app/phases/kubeconfig/kubeconfig_test.go b/cmd/kubeadm/app/phases/kubeconfig/kubeconfig_test.go
index 4eaa8c97cfa..17c2a24cdb6 100644
--- a/cmd/kubeadm/app/phases/kubeconfig/kubeconfig_test.go
+++ b/cmd/kubeadm/app/phases/kubeconfig/kubeconfig_test.go
@@ -262,7 +262,7 @@ func TestCreateKubeConfigFileIfNotExists(t *testing.T) {
 			kubeConfig:         configWithAnotherClusterCa,
 			expectedError:      true,
 		},
-		{ // if KubeConfig is not equal to the existingKubeConfig - tollerate custom server addresses
+		{ // if KubeConfig is not equal to the existingKubeConfig - tolerate custom server addresses
 			name:               "KubeConfig referst to the cluster with another address",
 			existingKubeConfig: config,
 			kubeConfig:         configWithAnotherClusterAddress,
@@ -484,7 +484,7 @@ func TestValidateKubeConfig(t *testing.T) {
 	configWithAnotherServerURL := setupdKubeConfigWithClientAuth(t, caCert, caKey, "https://4.3.2.1:4321", "test-cluster", "myOrg1")
 
 	// create a valid config but with whitespace around the CA PEM.
-	// validateKubeConfig() should tollerate that.
+	// validateKubeConfig() should tolerate that.
 	configWhitespace := config.DeepCopy()
 	configWhitespaceCtx := configWhitespace.Contexts[configWhitespace.CurrentContext]
 	configWhitespaceCA := string(configWhitespace.Clusters[configWhitespaceCtx.Cluster].CertificateAuthorityData)
diff --git a/test/e2e_kubeadm/kubelet_config_test.go b/test/e2e_kubeadm/kubelet_config_test.go
index c699a549c83..c966764f777 100644
--- a/test/e2e_kubeadm/kubelet_config_test.go
+++ b/test/e2e_kubeadm/kubelet_config_test.go
@@ -82,11 +82,9 @@ var _ = Describe("kubelet-config ConfigMap", func() {
 		// Extract the value of the UnversionedKubeletConfigMap feature gate if its present.
 		// TODO: remove this after the UnversionedKubeletConfigMap feature gate goes GA:
 		// https://github.com/kubernetes/kubeadm/issues/1582
-		var UnversionedKubeletConfigMap bool
+		UnversionedKubeletConfigMap := true
 		if _, ok := m["featureGates"]; ok {
 			if featureGates, ok := m["featureGates"].(map[interface{}]interface{}); ok {
-				// TODO: update the default to true once this graduates to Beta.
-				UnversionedKubeletConfigMap = false
 				if val, ok := featureGates["UnversionedKubeletConfigMap"]; ok {
 					if valBool, ok := val.(bool); ok {
 						UnversionedKubeletConfigMap = valBool