Automatic merge from submit-queue (batch tested with PRs 60012, 63692, 63977, 63960, 64008). 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>.
uses a more resilient way to get branch name from version
**What this PR does / why we need it**:
Currently `getBranchFromVersion` uses a hard coded way to extract branch name from the version string. This is error prone, especially when bumping the minimum supported k8s version from v1.9 to v1.10.
This follow-up PR tries to use a more resilient way to handle this.
**Which issue(s) this PR fixes** *(optional, in `fixes #<issue number>(, fixes #<issue_number>, ...)` format, will close the issue(s) when PR gets merged)*:
xref #63920
**Special notes for your reviewer**:
/cc luxas timothysc
**Release note**:
```release-note
None
```
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