Automatic merge from submit-queue (batch tested with PRs 59159, 60318, 60079, 59371, 57415). 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>.
kubeadm: use localhost for API server liveness probe
**What this PR does / why we need it**:
The current liveness probe does not work with an HA cluster created with kubeadm. The probe's `host` value will be set to the IP address of the machine where `kubeadm --init` is run. For other master nodes, the IP address will be wrong.
**Special notes for your reviewer**:
None
**Release note**:
```release-note
NONE
```
/cc @timothysc
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