Require k8s 1.20+ and small cleanups based on assuming it #2635
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This PR closes #2591 by requiring k8s 1.20+ and dropping support for k8s 1.17-1.19 that are no longer supported by the major cloud providers.
As part of this, I also do some cleanup to not test against old versions, remove misc conditionals to support old versions, and updates misc documentation references found to old versions.