Generate API version upgrade test templates with kustomize instead of hard-coding them

[willie-yao]

/kind cleanup

What needs cleanup:
Currently, the API version upgrade test templates (example) are not generated and are instead updated manually. This can introduce lots of room for error whenever we change the versions used in the upgrade test.

Describe the solution you'd like
The templates should be generated by kustomize with the same patches as cluster-template-prow.yaml, which is the main template being used by CI for other E2E tests

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/lifecycle stale

[willie-yao]

/remove-lifecycle stale