Automatic merge from submit-queue (batch tested with PRs 51921, 51829, 51968, 51988, 51986)
Category expansion fully based on discovery
**What this PR does / why we need it**: Makes the expansion of resource names in `kubectl` (e.g. "all" in "kubectl get all") respect the "categories" field in the API, and fallback to the legacy expander.
**Which issue this PR fixes** *(optional, in `fixes #<issue number>(, fixes #<issue_number>, ...)` format, will close that issue when PR gets merged)*: fixes https://github.com/kubernetes/kubernetes/issues/41353
**Release note**:
```release-note
NONE
```
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