utils/image/manifest has an additional `arch` parameter, which determines
whether an image ends in `-$ARCH` (like `-amd64`).
All locations that previously had gcr.io urls referenced in costants or inline
have been updated to refere test/utils/image.
Automatic merge from submit-queue (batch tested with PRs 56413, 56322, 56490, 56460, 56487). If you want to cherry-pick this change to another branch, please follow the instructions <a href="https://github.com/kubernetes/community/blob/master/contributors/devel/cherry-picks.md">here</a>.
Use policy client with explicit version
**What this PR does / why we need it**:
**Which issue(s) this PR fixes** :
Fixes partially #55993
**Special notes for your reviewer**:
/cc @caesarxuchao @sttts
**Release note**:
```release-note
NONE
```
