update ginkgo from v1 to v2 and gomega to 1.19.0

- update all the import statements
- run hack/pin-dependency.sh to change pinned dependency versions
- run hack/update-vendor.sh to update go.mod files and the vendor directory
- update the method signatures for custom reporters

Signed-off-by: Dave Chen <dave.chen@arm.com>

test/e2e/storage/empty_dir_wrapper.go

@@ -33,7 +33,7 @@ import (
 	imageutils "k8s.io/kubernetes/test/utils/image"
 	admissionapi "k8s.io/pod-security-admission/api"
 
-	"github.com/onsi/ginkgo"
+	"github.com/onsi/ginkgo/v2"
 )
 
 const (