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prow.sh: update to kind 0.9, support Kubernetes 1.19
kind 0.9 adds support for recent Kubernetes releases like 1.19 and simplifies configuration of feature gates and runtime config. With Kubernetes 1.19, new feature gates were introduced which might become relevant for the alpha Prow jobs. The updated kind release comes with images for different Kubernetes releases than the one before. To avoid breaking existing jobs, the script now picks kind images automatically. As an additional bonus, it then uses images with hash, i.e. it's less likely to break if those image tags change because of a future kind release.
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