Automatic merge from submit-queue (batch tested with PRs 54906, 54120, 54934, 54915, 54848). 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>.
Only parse ClusterCIDR, ServiceCIDR if AllocateNodeCIDRs
**What this PR does / why we need it**:
Avoid unnecessary spam in kube-controller-manager log if --cluster-cidr is not specified and --allocate-node-cidrs is false. Add clarification in kube-controller-manager help about that.
**Release note**
```release-note
Avoid unnecessary spam in kube-controller-manager log if --cluster-cidr is not specified and --allocate-node-cidrs is false.
```
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