Automatic merge from submit-queue (batch tested with PRs 51113, 46597, 50397, 51052, 51166)
Add statefulset upgrade tests to cluster_upgrade
**What this PR does / why we need it**:
Adds already created statefulset upgrade tests to cluster_upgrade.go. With further test infra changes, this will allow them to be continuously run, giving better signals.
Detect and prevent issues like https://github.com/kubernetes/kubernetes/issues/48327
**Release note**:
```release-note
NONE
```
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