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Automatic merge from submit-queue kubeadm join: polling discovery service API **What this PR does / why we need it**: Enhance kubeadm to allow for parallel provisioning of API endpoints and slave nodes, in addition to https://github.com/kubernetes/kubernetes/pull/33543. This PR let's `kubeadm join` poll the discovery service API and retry connecting to it every couple of seconds. That way `kubeadm init` and `kubeadm join` can be executed in parallel. **Fixes**: https://github.com/kubernetes/kubernetes/issues/33542 **Special notes for your reviewer**: @pires @errordeveloper last part of the discussed changes, in addition to https://github.com/kubernetes/kubernetes/pull/33543 and https://github.com/kubernetes/kubernetes/pull/34703